plotter.h

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/*
 * This file is part of the CoverageControl library
 *
 * Author: Saurav Agarwal
 * Contact: sauravag@seas.upenn.edu, agr.saurav1@gmail.com
 * Repository: https://github.com/KumarRobotics/CoverageControl
 *
 * Copyright (c) 2024, Saurav Agarwal
 *
 * The CoverageControl library is free software: you can redistribute it and/or
 * modify it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or (at your
 * option) any later version.
 *
 * The CoverageControl library is distributed in the hope that it will be
 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along with
 * CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef CPPSRC_CORE_INCLUDE_COVERAGECONTROL_PLOTTER_H_
#define CPPSRC_CORE_INCLUDE_COVERAGECONTROL_PLOTTER_H_
 
#include <iomanip>
#include <list>
#include <string>
#include <vector>
 
#include "CoverageControl/typedefs.h"
#include "CoverageControl/voronoi.h"
 
namespace gnuplotio {
class Gnuplot;
}
using namespace gnuplotio;
 
namespace CoverageControl {
 
struct PlotterData {
  MapType map;
  PointVector positions;
  std::vector<std::list<Point2>> positions_history;
  std::vector<int> robot_status;
  std::vector<std::list<Point2>> voronoi;
  MapType world_map;
};
 
class Plotter {
  std::string dir = "data/test/";
  std::string plot_name = "map.png";
  int marker_sz = 2;
  int half_marker_sz = 1;
  int image_sz = 1024;
  int font_sz = 14;
  double scale = 1;
  bool unset_colorbox = true;
 
  int range_max = 1024;
  double resolution = 1;
 
  std::string color_robot = "#002d7d";
  std::string color_robot_alt = "#196f3d";
  /* std::string color_idf = "#900C3F"; */
  std::string color_idf = "#900C3F";
  std::string color_voronoi = "#196f3d";
  std::string color_unknown = "#aeb6bf";
  std::string color_communication_links = "#1f77b4";
 
  bool GnuplotCommands(Gnuplot &gp);
  void StreamMap(Gnuplot &gp, MapType const &map);
  void PlotMap(Gnuplot &gp, bool begin = true);
  void PlotLine(Gnuplot &gp, int marker_sz, std::string color,
                bool begin = false);
  void PlotPoints(Gnuplot &gp, int point_type, int marker_sz, std::string color,
                  bool begin = false);
 
 public:
  Plotter(std::string const &d, int const &r_max, double const &res) {
    SetDir(d);
    range_max = r_max;
    resolution = res;
  }
 
  inline void SetDir(std::string const &d) { dir = d; }
 
  inline void SetScale(double const &sc) {
    scale = sc;
    marker_sz = static_cast<int>(2 * scale);
    half_marker_sz = static_cast<int>(1 * scale);
    image_sz = static_cast<int>(1024 * scale);
    font_sz = static_cast<int>(14 * scale);
  }
 
  void SetPlotName(std::string const &name) { plot_name = name + ".png"; }
 
  void SetPlotName(std::string const &name, int const &i) {
    std::stringstream ss;
    ss << std::setw(4) << std::setfill('0') << i;
    plot_name = name + ss.str() + ".png";
  }
 
  /* void PlotMap(MapType const &); */
  /* void PlotMap(MapType const &, PointVector const &); */
  /* void PlotMap(MapType const &, PointVector const &); */
  /* void PlotMap(MapType const &, PointVector const &, std::vector
   * <std::list<Point2>> const &, std::vector <int> const &); */
  /* void PlotMap(MapType const &, PointVector const &, PointVector const &,
   * Voronoi const &); */
  /* void PlotMap(MapType const &, PointVector const &, PointVector const &); */
 
  void PlotMap(MapType const &map);
 
  void PlotMap(MapType const &map, PointVector const &positions);
 
  void PlotMap(MapType const &map, PointVector const &positions,
               std::vector<std::list<Point2>> const &trajectories,
               std::vector<int> const &robot_status);
  void PlotMap(MapType const &map, PointVector const &positions,
               std::vector<std::list<Point2>> const &trajectories,
               std::vector<int> const &robot_status,
               double const &communication_range);
 
  void PlotMap(MapType const &map, PointVector const &positions,
               std::vector<std::list<Point2>> const &voronoi,
               std::vector<std::list<Point2>> const &trajectories);
  void PlotMap(MapType const &map, PointVector const &positions,
               Voronoi const &voronoi,
               std::vector<std::list<Point2>> const &trajectories);
  void PlotMap(MapType const &map, PointVector const &positions,
               PointVector const &goals, Voronoi const &voronoi);
 
  void PlotMap(MapType const &map, PointVector const &positions,
               std::vector<std::list<Point2>> const &trajectories,
               PointVector const &frontiers);
};
 
}  // namespace CoverageControl
 
#endif  // CPPSRC_CORE_INCLUDE_COVERAGECONTROL_PLOTTER_H_