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‎doc/manual/manual/visualization/figures.rst

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The Figure classes
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==================
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This page describes the classes used in Codac for 2D visualization.
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.. _subsec-graphics-figures-graphical-outputs:
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Graphical outputs
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-----------------
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Two graphical outputs are currently supported in Codac: :ref:`VIBes <sec-graphics-vibes>` and :ref:`IPE <sec-graphics-ipe>`. VIBes is used for real-time
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visualization while IPE creates a file that can be edited by the IPE editor. These outputs are referenced by the enumeration GraphicOutput:
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.. tabs::
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.. code-tab:: py
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GraphicOutput.VIBES # for VIBes
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GraphicOutput.IPE # for IPE
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GraphicOutput.VIBES | GraphicOutput.IPE # for both
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.. code-tab:: c++
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GraphicOutput::VIBES // for VIBes
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GraphicOutput::IPE // for IPE
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GraphicOutput::VIBES | GraphicOutput::IPE // for both
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Note that for the VIBes output to work, the VIBes viewer must be launched before the program is run.
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.. _subsec-graphics-figures-figure2d:
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Figure2D
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--------
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The basic class for 2D visualization is Figure2D. It is used to create a figure that can be displayed in VIBes or saved in an xml file for IPE.
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The constructor takes two arguments: the name of the figure and the graphical output. A boolean can be added to specify if the figure is to be used
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DefaultView (see :ref:`subsec-graphics-figures-figure2d-defaultview`).
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.. tabs::
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.. code-tab:: py
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fig = Figure2D("My figure", GraphicOutput.VIBES | GraphicOutput.IPE)
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.. code-tab:: c++
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Figure2D figure ("My Figure",GraphicOutput::VIBES|GraphicOutput::IPE);
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.. _subsec-graphics-figures-figure2d-defaultview:
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DefaultView
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-----------
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A DefaultView using only VIBes as graphical output is available. This figure is the one used by the function `draw_while_paving` by default.
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Any Figure2D object can be used as DefaultView with the set method:
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.. tabs::
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.. code-tab:: py
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figure = Figure2D("My figure", GraphicOutput.VIBES | GraphicOutput.IPE)
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DefaultView.set(figure)
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.. code-tab:: c++
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std::shared_ptr<codac2::Figure2D> figure = std::make_shared<Figure2D>("My Figure",GraphicOutput::VIBES|GraphicOutput::IPE);
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DefaultView::set(figure);
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Note that in C++ the figure must be a shared pointer in order to be passed to the `set` method.
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Equivalently, a Figure2D can be used as DefaultView by setting the flag `set_as_default` to true in the constructor:
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.. tabs::
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.. code-tab:: py
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fig = Figure2D("My figure", GraphicOutput.VIBES | GraphicOutput.IPE, True)
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.. code-tab:: c++
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Figure2D figure ("My Figure",GraphicOutput::VIBES|GraphicOutput::IPE,true);
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.. _subsec-graphics-figures-figure2d-figure-properties:
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Figure properties
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-----------------
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Once created, the properties of a Figure2D object can be modified using the following methods:
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.. tabs::
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.. code-tab:: py
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fig.set_window_properties([50,50],[500,500]) # set the window position and size
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fig.set_axes(axis(0,[-10,10]), axis(1,[-10,10])) # set the range of values on each axis : 0 for x-axis, 1 for y-axis
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.. code-tab:: c++
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fig.set_window_properties({50,50},{500,500}); // set the window position and size
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fig.set_axes(axis(0,{-10,10}), axis(1,{-10,10})); // set the range of values on each axis : 0 for x-axis, 1 for y-axis

‎doc/manual/manual/visualization/functions.rst

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.. _sec-graphics-functions:
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Drawing functions
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=================
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‎doc/manual/manual/visualization/index.rst

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.. toctree::
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8-
colors.rst
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figures.rst
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functions.rst
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colors.rst
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vibes.rst
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ipe.rst
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3d_visualization.rst

‎examples/00_graphics/CMakeLists.txt

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# ==================================================================
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# codac / basics example - cmake configuration file
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# ==================================================================
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cmake_minimum_required(VERSION 3.0.2)
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project(codac_example LANGUAGES CXX)
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set(CMAKE_CXX_STANDARD 20)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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# Adding Codac
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# In case you installed Codac in a local directory, you need
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# to specify its path with the CMAKE_PREFIX_PATH option.
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# set(CMAKE_PREFIX_PATH "~/codac/build_install")
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find_package(CODAC REQUIRED)
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message(STATUS "Found Codac version ${CODAC_VERSION}")
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# Initializating Ibex
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ibex_init_common()
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# Compilation
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if(FAST_RELEASE)
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add_compile_definitions(FAST_RELEASE)
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message(STATUS "You are running Codac in fast release mode. (option -DCMAKE_BUILD_TYPE=Release is required)")
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endif()
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add_executable(${PROJECT_NAME} graphic_examples.cpp)
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target_compile_options(${PROJECT_NAME} PUBLIC ${CODAC_CXX_FLAGS})
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${CODAC_INCLUDE_DIRS})
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target_link_libraries(${PROJECT_NAME} PUBLIC ${CODAC_LIBRARIES})

‎examples/00_graphics/graphic_examples.cpp

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#include <codac>
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using namespace std;
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using namespace codac2;
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int main(){
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// Graphics can be directly called without a Figure2D instanciation, using "DefaultView"
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DefaultView::set_window_properties({600,600},{300,300});
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DefaultView::draw_box({{2.2,2.5},{2.2,2.5}},{Color::black(),Color::yellow(0.5)});
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DefaultView::draw_AUV({1,1,3.14/2},1.,{Color::black(),Color::yellow()});
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DefaultView::draw_tank({2,1,3.14/2},1.,{Color::black(),Color::yellow()});
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DefaultView::draw_pie({2,2},{1.5,2.5},{(3*3.14/4)-0.5,(3*3.14/4)+0.5},{Color::blue(),Color::cyan()});
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DefaultView::draw_polyline({{2,-0.5},{4,0.5},{3,1.5},{4,2.5},{3,3}}, Color::red());
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DefaultView::draw_polygone({{2,4.5},{4,4.5},{4.2,3.5},{3.5,3}}, {Color::none(),Color::green(0.5)});
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DefaultView::draw_polyline({{-0.8,0},{0,1.5}}, 0.2, {Color::red(),Color::black(0.3)});
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// Last argument corresponds to "StyleProperties" with one or two colors: edge color + (optional) fill color
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// Predefined Color objects can be configured with a float parameter for opacity (1=opaque, 0=transparent)
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// Custom figures can also be created:
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std::shared_ptr<codac2::Figure2D> fig1 = std::make_shared<Figure2D>("My Figure 1",GraphicOutput::VIBES|GraphicOutput::IPE);
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// Here, graphics will be rendered by two tools: both VIBES and IPE
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// For VIBES, it requires the VIBes viewer to be launched prior to the execution
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// For IPE, it generates a file named "My figure 1.xml" that can be edited with IPE, and converted to PDF
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fig1->set_window_properties({50,50},{500,500}); // position, window size
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fig1->set_axes(axis(0,{-10,10}), axis(1,{-10,10})); // (axis_id,{range_of_values_on_this_axis})
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fig1->draw_box({{-1,1},{-1,1}},{Color::green(),Color::red(0.2)}); // drawing a green box with red opacity values inside
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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
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fig1->draw_ring({1,1},{4,6},Color::red()); // drawing a ring at (1,1) of radius {4,6} with a predefined red color
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std::shared_ptr<codac2::Figure2D> fig2 = std::make_shared<Figure2D>("My Figure 2",GraphicOutput::VIBES|GraphicOutput::IPE);
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fig2->set_axes(axis(0,{-1,5}), axis(1,{-1,5}));
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fig2->set_window_properties({250,250},{500,500});
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// The previously declared figure "fig2" can now be used as a DefaultView
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DefaultView::set(fig2);
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DefaultView::draw_box({{2.2,2.5},{2.2,2.5}},{Color::black(),Color::green(0.8)});
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DefaultView::set(fig1);
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DefaultView::draw_box({{2.2,2.5},{2.2,2.5}},{Color::blue(),Color::cyan(0.8)});
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fig2->draw_AUV({1,1,3.14/2},2.,{Color::black(),Color::yellow()});
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fig2->draw_tank({2,1,3.14/2},1.,{Color::black(),Color::yellow()});
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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()});
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fig2->draw_polyline({{2,-0.5},{4,0.5},{3,1.5},{4,2.5},{3,3}}, Color::red());
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fig2->draw_polygone({{2,4.5},{4,4.5},{4.2,3.5},{3.5,3}}, {Color::none(),Color::green(0.5)});
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fig2->draw_polyline({{-0.8,0},{0,1.5}}, 0.2, {Color::red(),Color::black(0.3)});
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fig2->draw_ellipse({1,1},{0.5,2}, 0.2, {Color::blue(),Color::blue(0.3)});
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fig2->draw_line({1,1},{3,3}, Color::blue());
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fig2->draw_arrow({3,1},{2.2,2}, 0.2, {Color::red(),Color::black(0.3)});
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// Colors
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// predefined colors without and with opacity
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fig2->draw_point({2,2}, {Color::red(),Color::yellow(0.5)});
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// HTML color without and with opacity
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fig2->draw_box({{2.4,2.9},{2.4,2.9}},{Color("#da3907"),Color("#da390755")});
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// HSV color without and with opacity
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fig2->draw_box({{2.6,3.1},{2.6,3.1}},{Color({108,90,78},Model::HSV),Color({108,90,78,20},Model::HSV)});
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Figure2D fig3 ("My Figure 3",GraphicOutput::VIBES|GraphicOutput::IPE);
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fig3.set_axes(axis(0,{-1,21}), axis(1,{-5.5,0.5}));
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fig3.set_window_properties({800,250},{500,500});
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ColorMap cmap_haxby = ColorMap::haxby();
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ColorMap cmap_default = ColorMap::basic();
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ColorMap cmap_blue_tube = ColorMap::blue_tube();
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ColorMap cmap_red_tube = ColorMap::red_tube();
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ColorMap cmap_rainbow = ColorMap::rainbow();
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for (double i=0.; i<20; i++)
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{
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double ratio = i/20.;
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fig3.draw_box({{i,i+1},{-1,0}},{Color::black(),cmap_haxby.color(ratio)});
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fig3.draw_box({{i,i+1},{-2,-1}},{Color::black(),cmap_default.color(ratio)});
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fig3.draw_box({{i,i+1},{-3,-2}},{Color::black(),cmap_blue_tube.color(ratio)});
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fig3.draw_box({{i,i+1},{-4,-3}},{Color::black(),cmap_red_tube.color(ratio)});
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fig3.draw_box({{i,i+1},{-5,-4}},{Color::black(),cmap_rainbow.color(ratio)});
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}
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Figure2D fig4 ("My Figure 4",GraphicOutput::VIBES);
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fig4.set_axes(axis(0,{-10,10}), axis(1,{-10,10}));
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double a=0.5;
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ScalarVar t;
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// Fermat's spiral
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AnalyticFunction f1 ({t},{a*sqrt(t)*cos(t),a*sqrt(t)*sin(t)});
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AnalyticTraj traj4 (f1,{0,100});
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fig4.draw_trajectory(traj4,ColorMap::rainbow());
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}

‎examples/00_graphics/graphic_examples.py

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fig3.draw_box([[i,i+1],[-4,-3]],[Color.black(),cmap_red_tube.color(ratio)])
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fig3.draw_box([[i,i+1],[-5,-4]],[Color.black(),cmap_rainbow.color(ratio)])
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fig3 = Figure2D("My figure 3", GraphicOutput.VIBES)
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fig4 = Figure2D("My figure 4", GraphicOutput.VIBES)
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fig3.set_window_properties([500,50],[500,500])
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fig3.set_axes(axis(0,[-10,10]), axis(1,[-10,10]))
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fig4.set_window_properties([500,50],[500,500])
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fig4.set_axes(axis(0,[-10,10]), axis(1,[-10,10]))
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a = 0.8
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t=ScalarVar()
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# Fermat's spiral
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f1=AnalyticFunction([t], [a*sqrt(t)*cos(t),a*sqrt(t)*sin(t)])
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traj3=AnalyticTraj(f1, [0,100])
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fig3.draw_trajectory(traj3, ColorMap.rainbow())
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traj4=AnalyticTraj(f1, [0,100])
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fig4.draw_trajectory(traj4, ColorMap.rainbow())

‎examples/01_batman/CMakeLists.txt

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set(CMAKE_CXX_STANDARD 20)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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# Adding IBEX
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# In case you installed IBEX in a local directory, you need
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# to specify its path with the CMAKE_PREFIX_PATH option.
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# set(CMAKE_PREFIX_PATH "~/ibex-lib/build_install")
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find_package(IBEX REQUIRED)
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ibex_init_common() # IBEX should have installed this function
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message(STATUS "Found IBEX version ${IBEX_VERSION}")
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# Adding Codac
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# In case you installed Codac in a local directory, you need
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find_package(CODAC REQUIRED)
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message(STATUS "Found Codac version ${CODAC_VERSION}")
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# Initializating Ibex
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ibex_init_common()
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# Compilation
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if(FAST_RELEASE)
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add_executable(${PROJECT_NAME} main.cpp)
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target_compile_options(${PROJECT_NAME} PUBLIC ${CODAC_CXX_FLAGS})
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${CODAC_INCLUDE_DIRS})
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target_link_libraries(${PROJECT_NAME} PUBLIC ${CODAC_LIBRARIES} Ibex::ibex)
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target_link_libraries(${PROJECT_NAME} PUBLIC ${CODAC_LIBRARIES})

‎examples/02_centered_form/CMakeLists.txt

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set(CMAKE_CXX_STANDARD 20)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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# Adding IBEX
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# In case you installed IBEX in a local directory, you need
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# to specify its path with the CMAKE_PREFIX_PATH option.
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# set(CMAKE_PREFIX_PATH "~/ibex-lib/build_install")
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find_package(IBEX REQUIRED)
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ibex_init_common() # IBEX should have installed this function
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message(STATUS "Found IBEX version ${IBEX_VERSION}")
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# Adding Codac
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# In case you installed Codac in a local directory, you need
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find_package(CODAC REQUIRED)
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message(STATUS "Found Codac version ${CODAC_VERSION}")
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# Initializating Ibex
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ibex_init_common()
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# Compilation
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if(FAST_RELEASE)
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add_executable(${PROJECT_NAME} main.cpp)
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target_compile_options(${PROJECT_NAME} PUBLIC ${CODAC_CXX_FLAGS})
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${CODAC_INCLUDE_DIRS})
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target_link_libraries(${PROJECT_NAME} PUBLIC ${CODAC_LIBRARIES} Ibex::ibex)
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target_link_libraries(${PROJECT_NAME} PUBLIC ${CODAC_LIBRARIES})

‎examples/03_sivia/CMakeLists.txt

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set(CMAKE_CXX_STANDARD 20)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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# Adding IBEX
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# In case you installed IBEX in a local directory, you need
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# to specify its path with the CMAKE_PREFIX_PATH option.
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# set(CMAKE_PREFIX_PATH "~/ibex-lib/build_install")
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find_package(IBEX REQUIRED)
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ibex_init_common() # IBEX should have installed this function
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message(STATUS "Found IBEX version ${IBEX_VERSION}")
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# Adding Codac
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# In case you installed Codac in a local directory, you need
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find_package(CODAC REQUIRED)
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message(STATUS "Found Codac version ${CODAC_VERSION}")
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# Initializating Ibex
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ibex_init_common()
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# Compilation
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if(FAST_RELEASE)
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add_executable(${PROJECT_NAME} main.cpp)
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target_compile_options(${PROJECT_NAME} PUBLIC ${CODAC_CXX_FLAGS})
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target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${CODAC_INCLUDE_DIRS})
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target_link_libraries(${PROJECT_NAME} PUBLIC ${CODAC_LIBRARIES} Ibex::ibex)
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target_link_libraries(${PROJECT_NAME} PUBLIC ${CODAC_LIBRARIES})

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