2D drawing functions

Main author: Maël Godard

This page lists all the 2D drawing functions available in Codac. Note that the functions described here on a Figure2D object also work on the DefaultFigure.

For example :

# On a figure
fig.draw_box([[2.2,2.5],[2.2,2.5]])

# On the DefaultFigure
DefaultFigure.draw_box([[2.2,2.5],[2.2,2.5]])

In addition to the arguments described here for every function, an optionnal argument of type StyleProperties can be added to choose the edge and fill color (by default black edge no fill). This object can be deduced from one or two Color objects, see this page for more information.

fig.draw_box([[2.2,2.5],[2.2,2.5]],Color.red()) # Red edge
fig.draw_box([[2.2,2.5],[2.2,2.5]],[Color.red()]) # Red edge
fig.draw_box([[2.2,2.5],[2.2,2.5]],[Color.red(),Color.blue()]) # Red edge and blue fill

A line style and a layer can be added to the StyleProperties object, see the dedicated page for more information.

Overview of the functions

Below are the detailled available drawing functions. The shapes that can be drawn are:

Geometric shapes

  • Point

  • Box

  • Circle

  • Ring

  • Line

  • Arrow

  • Polyline

  • Polygone

  • Parallelepiped

  • Zonotope

  • Pie

  • Ellipse

  • Ellipsoid

Trajectories

  • Sampled Trajectory

  • Analytic Trajectory

Vehicles

  • Tank

  • AUV

  • Motor Boat

Paving

  • PavingOut (Paving with contractors)

  • PavingInOut (Paving with separators)

  • Subpaving

Geometric shapes

void codac2::Figure2D::draw_point(const Vector &c, const StyleProperties &style = StyleProperties())

Draws a point on the figure.

Parameters:

  • c – Coordinates of the point

  • style – Style of the point (edge color and fill color)

void codac2::Figure2D::draw_box(const IntervalVector &x, const StyleProperties &style = StyleProperties())

Draws a box on the figure.

Parameters:

  • x – Box to draw

  • style – Style of the box (edge color and fill color)

void codac2::Figure2D::draw_circle(const Vector &c, double r, const StyleProperties &style = StyleProperties())

Draws a circle on the figure.

Parameters:

  • c – Center of the circle

  • r – Radius of the circle

  • style – Style of the circle (edge color and fill color)

void codac2::Figure2D::draw_ring(const Vector &c, const Interval &r, const StyleProperties &style = StyleProperties())

Draws a ring on the figure.

Parameters:

  • c – Center of the ring

  • r – Inner and outer radius of the ring

  • style – Style of the ring (edge color and fill color)

void codac2::Figure2D::draw_line(const Vector &p1, const Vector &p2, const StyleProperties &style = StyleProperties())

Draws a line on the figure.

Parameters:

  • p1 – First point of the line

  • p2 – Second point of the line

  • style – Style of the line (edge color)

void codac2::Figure2D::draw_line(const Segment &e, const StyleProperties &style = StyleProperties())

Draws a line on the figure.

Parameters:

  • e – segment to be drawn

  • style – Style of the line (edge color)

void codac2::Figure2D::draw_arrow(const Vector &p1, const Vector &p2, float tip_length, const StyleProperties &style = StyleProperties())

Draws an arrow on the figure.

Parameters:

  • p1 – First point of the arrow

  • p2 – Second point of the arrow

  • tip_length – Length of the tip of the arrow

  • style – Style of the arrow (edge color and fill color)

void codac2::Figure2D::draw_polyline(const std::vector<Vector> &x, const StyleProperties &style = StyleProperties())

Draws a polyline on the figure.

Parameters:

  • x – Vector of the points of the polyline

  • style – Style of the polyline (edge color)

void codac2::Figure2D::draw_polyline(const std::vector<Vector> &x, float tip_length, const StyleProperties &style = StyleProperties())

Draws a polyline on the figure.

Parameters:

  • x – Vector of the points of the polyline

  • tip_length – Length of the tip of the arrow

  • style – Style of the polyline (edge color and fill color)

void codac2::Figure2D::draw_polygon(const Polygon &x, const StyleProperties &style = StyleProperties())

Draws a Polygon object on the figure.

Parameters:

  • x – the Polygon object to be displayed

  • style – Style of the polygone (edge color and fill color)

void codac2::Figure2D::draw_parallelepiped(const Parallelepiped &p, const StyleProperties &style = StyleProperties())

Draws a parallelepiped z+A*[-1,1]^2 on the figure.

Parameters:

  • p – Parallelepiped to draw (center and shape matrix)

  • style – Style of the parallelepiped (edge color and fill color)

void codac2::Figure2D::draw_zonotope(const Zonotope &z, const StyleProperties &style = StyleProperties())

Draws a zonotope z+sum_i [-1,1] A_i on the figure.

Parameters:

  • z – Zonotope to draw (center and shape matrix)

  • style – Style of the zonotope (edge color and fill color)

void codac2::Figure2D::draw_pie(const Vector &c, const Interval &r, const Interval &theta, const StyleProperties &style = StyleProperties())

Draws a pie on the figure.

Parameters:

  • c – Center of the pie

  • r – Inner and outer radius of the pie

  • theta – Start and end angle of the pie (in radians)

  • style – Style of the pie (edge color and fill color)

void codac2::Figure2D::draw_ellipse(const Vector &c, const Vector &ab, double theta, const StyleProperties &style = StyleProperties())

Draws an ellipse on the figure.

Parameters:

  • c – Center of the ellipse

  • ab – Half-lengths of the ellipse

  • theta – Rotation angle of the ellipse (in radians)

  • style – Style of the ellipse (edge color and fill color)

void codac2::Figure2D::draw_ellipsoid(const Ellipsoid &e, const StyleProperties &style = StyleProperties())

Draws an ellipsoid on the figure.

Parameters:

  • e – Ellipsoid to draw

  • style – Style of the ellipsoid (edge color and fill color)

Trajectories and tubes

void codac2::Figure2D::draw_trajectory(const SampledTraj<Vector> &x, const StyleProperties &style = StyleProperties())

Draws a trajectory on the figure.

Parameters:

  • x – SampledTraj to draw

  • style – Style of the trajectory (edge color)

void codac2::Figure2D::draw_trajectory(const AnalyticTraj<VectorType> &x, const StyleProperties &style = StyleProperties())

Draws a trajectory on the figure.

Parameters:

  • x – AnalyticTraj to draw

  • style – Style of the trajectory (edge color)

Trajectories can be drawn with a ColorMap instead of the classic StyleProperties. This can be done by passing a ColorMap object as the second argument.

void codac2::Figure2D::draw_trajectory(const SampledTraj<Vector> &x, const StyleGradientProperties &style)

Draws a trajectory on the figure with a colormap.

Parameters:

  • x – SampledTraj to plot

  • style – StyleGradientProperties to use

void codac2::Figure2D::draw_trajectory(const AnalyticTraj<VectorType> &x, const StyleGradientProperties &style)

Draws a trajectory on the figure with a colormap.

Parameters:

  • x – AnalyticTraj to plot

  • style – StyleGradientProperties to use

void codac2::Figure2D::draw_tube(const SlicedTube<IntervalVector> &x, const StyleProperties &style, int max_nb_slices_to_display = 5000)

Draws a tube of IntervalVector on the figure with some StyleProperties.

This function renders the slices (boxes) that compose a SlicedTube

.

If the number of slices exceeds

max_nb_slices_to_display

, consecutive rectangular slices are merged by groups into convex polygons.

This reduces visual clutter and improves rendering efficiency while preserving the overall shape of the tube.

Parameters:

  • x – SlicedTube to draw.

  • style – Style properties used for drawing the tube.

  • max_nb_slices_to_display – Maximum number of slices to display before merging them into convex polygons.

void codac2::Figure2D::draw_tube(const SlicedTube<IntervalVector> &x, const StyleGradientProperties &style = StyleGradientProperties(ColorMap::blue_tube()), int max_nb_slices_to_display = 5000)

Draws a tube of IntervalVector on the figure with a colormap.

This function renders the slices (boxes) that compose a SlicedTube

.

If the number of slices exceeds

max_nb_slices_to_display

, consecutive rectangular slices are merged by groups into convex polygons.

This reduces visual clutter and improves rendering efficiency while preserving the overall shape of the tube.

Parameters:

  • x – SlicedTube to draw.

  • style – StyleGradientProperties to use

  • max_nb_slices_to_display – Maximum number of slices to display before merging them into convex polygons.

void codac2::Figure2D::plot_tube(const SlicedTube<Interval> &x, const StyleProperties &style = StyleProperties())

Plots a tube on the figure (x-axis is the time)

Parameters:

  • x – SlicedTube to plot

  • style – Style of the tube (edge color)

void codac2::Figure2D::plot_tube(const SlicedTube<Interval> &x, const SlicedTube<Interval> &v, const StyleProperties &style = StyleProperties())

Plots a tube on the figure (x-axis is the time), with derivative information: slices are displayed as polygons.

Parameters:

  • x – SlicedTube to plot

  • v – derivative tube of the SlicedTube to plot

  • style – Style of the tube (edge color)

Vehicles

void codac2::Figure2D::draw_tank(const Vector &x, float size, const StyleProperties &style = StyleProperties())

Draws a tank on the figure.

Parameters:

  • x – Coordinates of the tank

  • size – Size of the tank

  • style – Style of the tank (edge color and fill color)

void codac2::Figure2D::draw_AUV(const Vector &x, float size, const StyleProperties &style = StyleProperties())

Draws an AUV on the figure.

Parameters:

  • x – Coordinates of the AUV

  • size – Size of the AUV

  • style – Style of the AUV (edge color and fill color)

void codac2::Figure2D::draw_motor_boat(const Vector &x, float size, const StyleProperties &style = StyleProperties())

Draws a motor boat on the figure.

Parameters:

  • x – Coordinates of the motor boat

  • size – Size of the motor boat

  • style – Style of the motor boat (edge color and fill color)

Miscellaneous

void codac2::Figure2D::draw_text(const std::string &text, const Vector &ul, double scale, const StyleProperties &style = StyleProperties())

Draws text on the figure.

Parameters:

  • text – Text to display

  • ul – Position of the top-left corner of the text

  • scale – Scaling of the text (VIBes only)

  • style – Style of the text (color, layer)

void codac2::Figure2D::draw_raster(const std::string &filename, const IntervalVector &bbox, const StyleProperties &style = StyleProperties())

Draws a raster on the figure in VIBes only, only the bounding box is drawn in IPE.

Parameters:

  • filename – The name of the file, the path is relative to the VIBes’ server folder

  • bbox – The bounding box of the raster

  • style – Style of the raster (only the layer is used)

Paving

void codac2::Figure2D::draw_paving(const PavingOut &p, const PavingStyle &style = PavingStyle::default_style())

Draws a previously computed paving (outer approximation) on the figure.

Parameters:

  • p – PavingOut to draw (result of a paving with contractors)

  • style – PavingStyle for the drawing

void codac2::Figure2D::draw_paving(const PavingOut &p, const std::function<void(Figure2D&, const IntervalVector&, const StyleProperties&)> &draw_box, const PavingStyle &style = PavingStyle::default_style())

Draws a previously computed paving (outer approximation) on the figure.

Parameters:

  • p – PavingOut to draw (result of a paving with contractors)

  • draw_box – Custom drawing function (for instance, if one wants to draw in polar coordinates)

  • style – PavingStyle for the drawing

void codac2::Figure2D::draw_paving(const PavingInOut &p, const PavingStyle &style = PavingStyle::default_style())

Draws a previously computed paving (inner/outer approximation) on the figure.

Parameters:

  • p – PavingInOut to draw (result of a paving with separators)

  • style – PavingStyle for the drawing

void codac2::Figure2D::draw_paving(const PavingInOut &p, const std::function<void(Figure2D&, const IntervalVector&, const StyleProperties&)> &draw_box, const PavingStyle &style = PavingStyle::default_style())

Draws a previously computed paving (inner/outer approximation) on the figure.

Parameters:

  • p – PavingInOut to draw (result of a paving with separators)

  • draw_box – Custom drawing function (for instance, if one wants to draw in polar coordinates)

  • style – PavingStyle for the drawing

template<typename P>
inline void codac2::Figure2D::draw_subpaving(const Subpaving<P> &p, const StyleProperties &style = StyleProperties())

Draws a subpaving on the figure.

Parameters:

  • p – Subpaving to draw

  • style – Style of the subpaving