graphic_examples.cpp

#include <codac>
#include <filesystem>
#include <iostream>

using namespace std;
using namespace codac2;

int main(){

  // Graphics can be directly called without a Figure2D instanciation, using "DefaultFigure"

  DefaultFigure::set_window_properties({600,600},{300,300});
  DefaultFigure::draw_box({{2.2,2.5},{2.2,2.5}},{Color::black(),Color::yellow(0.5)});
  DefaultFigure::draw_AUV({1,1,3.14/2},1.,{{Color::black(),Color::yellow()}, "-.."});
  DefaultFigure::draw_motor_boat({0,0,0}, 1., {Color::black(),Color::yellow()});
  DefaultFigure::draw_tank({2,1,3.14/2},1.,{{Color::black(),Color::yellow()},"vehicles","-."});
  DefaultFigure::draw_pie({2,2},{1.5,2.5},{(3*3.14/4)-0.5,(3*3.14/4)+0.5},{Color::blue(),Color::cyan()});
  DefaultFigure::draw_polyline({{2,-0.5},{4,0.5},{3,1.5},{4,2.5},{3,3}}, Color::red());
  DefaultFigure::draw_polygon({{2,4.5},{4,4.5},{4.2,3.5},{3.5,3}}, {Color::none(),Color::green(0.5)});
  DefaultFigure::draw_polyline({{-0.8,0},{0,1.5}}, 0.2, {Color::red(),Color::black(0.3)});

  // Last argument corresponds to "StyleProperties" with one or two colors: edge color + (optional) fill color
  // Predefined Color objects can be configured with a float parameter for opacity (1=opaque, 0=transparent)

  // Custom figures can also be created:
  std::shared_ptr<codac2::Figure2D> fig1 = std::make_shared<Figure2D>("My Figure 1",GraphicOutput::VIBES|GraphicOutput::IPE);

  // Here, graphics will be rendered by two tools: both VIBES and IPE
  // For VIBES, it requires the VIBes viewer to be launched prior to the execution
  // For IPE, it generates a file named "My figure 1.xml" that can be edited with IPE, and converted to PDF

  fig1->set_window_properties({50,50},{500,500}); // position, window size
  fig1->set_axes(axis(0,{-10,10}), axis(1,{-10,10})); // (axis_id,{range_of_values_on_this_axis})
  fig1->draw_box({{-1,1},{-1,1}},{Color::green(),Color::red(0.2)}); // drawing a green box with red opacity values inside
  fig1->draw_circle({1,1},0.5,Color({255,155,5})); // drawing a circle at (1,1) of radius 0.5 with a custom RGB color
  fig1->draw_ring({1,1},{4,6},Color::red()); // drawing a ring at (1,1) of radius {4,6} with a predefined red color

  std::shared_ptr<codac2::Figure2D> fig2 = std::make_shared<Figure2D>("My Figure 2",GraphicOutput::VIBES|GraphicOutput::IPE);  
  fig2->set_axes(axis(0,{-1,5}), axis(1,{-1,5}));
  fig2->set_window_properties({250,250},{500,500});

  // The previously declared figure "fig2" can now be used as a DefaultFigure
  DefaultFigure::set(fig2);
  DefaultFigure::draw_box({{2.2,2.5},{2.2,2.5}},{Color::black(),Color::green(0.8)});

  DefaultFigure::set(fig1);
  DefaultFigure::draw_box({{2.2,2.5},{2.2,2.5}},{Color::blue(),Color::cyan(0.8)});

  fig2->draw_circle({2.,2.},0.5,{{Color::red(),Color::red(0.2)}, "z:1."}); // will alway be on top despite being "drawn" first

  fig2->draw_AUV({1,1,3.14/2},2.,{{Color::black(),Color::yellow()}, "w:0.1", "vehicles"});
  fig2->draw_tank({2,1,3.14/2},1.5,{{Color::black(),Color::yellow()},"vehicles","w:0.1"});
  fig2->draw_motor_boat({0,0,0}, 1., {{Color::black(),Color::yellow()},"vehicles"});
  fig2->draw_pie({2,2},{1.5,2.5},{(3*3.14/4)-0.5,(3*3.14/4)+0.5},{Color::blue(),Color::cyan()});
  fig2->draw_polyline({{2,-0.5},{4,0.5},{3,1.5},{4,2.5},{3,3}}, {Color::red(),".."});
  fig2->draw_polygon({{2,4.5},{4,4.5},{4.2,3.5},{3.5,3}}, {Color::none(),Color::green(0.5)});
  fig2->draw_polyline({{-0.8,0},{0,1.5}}, 0.2, {Color::red(),Color::black(0.3)});
  fig2->draw_ellipse({1,1},{0.5,2}, 0.2, {Color::blue(),Color::blue(0.3)});
  fig2->draw_line({1,1},{3,3}, Color::blue());
  fig2->draw_arrow({3,1},{2.2,2}, 0.2, {Color::red(),Color::black(0.3)});
  fig2->draw_parallelepiped({{1.5,2.8},Matrix({{0.5,0.4},{0,0.2}})}, {{Color::red(),Color::green(0.5)}, "parallelepiped", "w:0.1"});

  fig2->draw_zonotope({{4,1.5},
		{{-0.2,-0.06,0.2,0.06,0.01,0.08,0},
     {0.1,0.04,0.04,-0.04,-0.03,0.18,0}}},
	{{Color::red(),Color::yellow(0.4)},"zonotope", "w:0.05"});

  Parallelepiped p_3d ({1.2,3.5,2.2},Matrix({{0.5,0.4,0},{0,0.2,0.1},{0,0,0.3}}));
  fig2->draw_zonotope(p_3d.proj({0,1}), {{Color::green(),Color::yellow(0.4)}, "zonotope"});

  fig2->draw_text("Hello, World!",{-0.5,4.5},0.2, Color::blue());

  std::filesystem::path p = __FILE__;
  fig2->draw_raster(p.parent_path().string()+"/logo_codac.png", IntervalVector({{2.5,5},{-1,-0.4}}), StyleProperties("raster"));

  fig2->draw_circle({0.5,0.5},0.5,{{Color::orange(),Color::orange(0.2)}, "z:-1."}); // will alway be in the bottom despite being "drawn" last

  // Colors
  // predefined colors without and with opacity
  fig2->draw_point({2,2}, {Color::red(),Color::yellow(0.5)});
  // HTML color without and with opacity
  fig2->draw_box({{2.4,2.9},{2.4,2.9}},{Color("#da3907"),Color("#da390755")});
  // HSV color without and with opacity
  fig2->draw_box({{2.6,3.1},{2.6,3.1}},{Color({108,90,78},Model::HSV),Color({108,90,78,20},Model::HSV)});

  Figure2D fig3 ("ColorMap figure",GraphicOutput::VIBES|GraphicOutput::IPE);
  fig3.set_window_properties({800,250},{500,500});

  ColorMap cmap_haxby = ColorMap::haxby();
  ColorMap cmap_default = ColorMap::basic();
  ColorMap cmap_blue_tube = ColorMap::blue_tube();
  ColorMap cmap_red_tube = ColorMap::red_tube();
  ColorMap cmap_rainbow = ColorMap::rainbow();

  ColorMap custom_map;
  custom_map[0] = Color({255,0,0});
  custom_map[0.5] = Color({0,255,0});
  custom_map[1] = Color({0,0,255});

  double subdivisions = 40.;
  fig3.set_axes(axis(0,{-1,subdivisions+1}), axis(1,{-1.25,0.05}));
  for (double i=0.; i<=subdivisions; i+=1.0)
  {
    double ratio = i/subdivisions;
    fig3.draw_box({{i,i+1},{-1./5.,0}},{Color::black(),cmap_default.color(ratio)});
    fig3.draw_box({{i,i+1},{-2./5.,-1./5.}},{Color::black(),cmap_haxby.color(ratio)});
    fig3.draw_box({{i,i+1},{-3./5.,-2./5.}},{Color::black(),cmap_rainbow.color(ratio)});
    fig3.draw_box({{i,i+1},{-4./5.,-3./5.}},{Color::black(),cmap_blue_tube.color(ratio)});
    fig3.draw_box({{i,i+1},{-5/5.,-4./5.}},{Color::black(),cmap_red_tube.color(ratio)});
    fig3.draw_box({{i,i+1},{-6./5.,-5./5.}},{Color::black(),custom_map.color(ratio)});
  }

  Figure2D fig4 ("My Figure 4",GraphicOutput::VIBES);

  fig4.set_window_properties({500,50},{500,500});
  fig4.set_axes(axis(0,{-10,10}), axis(1,{-10,10}));

  double a=0.8;
  ScalarVar t;
  // Fermat's spiral
  AnalyticFunction f1 ({t},{a*sqrt(t)*cos(t),a*sqrt(t)*sin(t)});
  AnalyticTraj traj4 (f1,{0,100});
  fig4.draw_trajectory(traj4,{ColorMap::rainbow(), ".."});
}