Merge branch 'godardma-codac2_dev' into codac2_dev

doc/manual/manual/visualization/figures.rst

@@ -2,3 +2,101 @@
 
 The Figure classes
 ==================
+
+This page describes the classes used in Codac for 2D visualization.
+
+.. _subsec-graphics-figures-graphical-outputs:
+
+Graphical outputs
+-----------------
+
+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 
+visualization while IPE creates a file that can be edited by the IPE editor. These outputs are referenced by the enumeration GraphicOutput:
+
+.. tabs::
+
+  .. code-tab:: py
+
+    GraphicOutput.VIBES # for VIBes
+    GraphicOutput.IPE # for IPE
+    GraphicOutput.VIBES | GraphicOutput.IPE # for both
+
+  .. code-tab:: c++
+
+    GraphicOutput::VIBES  // for VIBes
+    GraphicOutput::IPE  // for IPE
+    GraphicOutput::VIBES | GraphicOutput::IPE // for both
+
+Note that for the VIBes output to work, the VIBes viewer must be launched before the program is run.
+
+.. _subsec-graphics-figures-figure2d:
+
+Figure2D
+--------
+
+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.
+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
+DefaultView (see :ref:`subsec-graphics-figures-figure2d-defaultview`).
+
+.. tabs::
+
+  .. code-tab:: py
+
+    fig = Figure2D("My figure", GraphicOutput.VIBES | GraphicOutput.IPE)
+
+  .. code-tab:: c++
+
+    Figure2D figure ("My Figure",GraphicOutput::VIBES|GraphicOutput::IPE);
+
+.. _subsec-graphics-figures-figure2d-defaultview:
+
+DefaultView
+-----------
+
+A DefaultView using only VIBes as graphical output is available. This figure is the one used by the function `draw_while_paving` by default. 
+Any Figure2D object can be used as DefaultView with the set method:
+
+.. tabs::
+
+  .. code-tab:: py
+
+    figure = Figure2D("My figure", GraphicOutput.VIBES | GraphicOutput.IPE)
+    DefaultView.set(figure)
+
+  .. code-tab:: c++
+
+    std::shared_ptr<codac2::Figure2D> figure = std::make_shared<Figure2D>("My Figure",GraphicOutput::VIBES|GraphicOutput::IPE);
+    DefaultView::set(figure);
+
+Note that in C++ the figure must be a shared pointer in order to be passed to the `set` method.
+
+Equivalently, a Figure2D can be used as DefaultView by setting the flag `set_as_default` to true in the constructor:
+
+.. tabs::
+
+  .. code-tab:: py
+
+    fig = Figure2D("My figure", GraphicOutput.VIBES | GraphicOutput.IPE, True)
+
+  .. code-tab:: c++
+
+    Figure2D figure ("My Figure",GraphicOutput::VIBES|GraphicOutput::IPE,true);
+
+.. _subsec-graphics-figures-figure2d-figure-properties:
+
+Figure properties
+-----------------
+
+Once created, the properties of a Figure2D object can be modified using the following methods:
+
+.. tabs::
+
+  .. code-tab:: py
+
+    fig.set_window_properties([50,50],[500,500]) # set the window position and size
+    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
+
+  .. code-tab:: c++
+
+    fig.set_window_properties({50,50},{500,500}); // set the window position and size
+    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

@@ -0,0 +1,5 @@
+.. _sec-graphics-functions:
+
+Drawing functions
+=================
+

doc/manual/manual/visualization/index.rst

@@ -5,8 +5,9 @@ Visualization
 
 .. toctree::
 
-   colors.rst
    figures.rst
+   functions.rst
+   colors.rst
    vibes.rst
    ipe.rst
    3d_visualization.rst

examples/00_graphics/CMakeLists.txt

@@ -0,0 +1,34 @@
+# ==================================================================
+#  codac / basics example - cmake configuration file
+# ==================================================================
+
+  cmake_minimum_required(VERSION 3.0.2)
+  project(codac_example LANGUAGES CXX)
+
+  set(CMAKE_CXX_STANDARD 20)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# Adding Codac
+
+  # In case you installed Codac in a local directory, you need 
+  # to specify its path with the CMAKE_PREFIX_PATH option.
+  # set(CMAKE_PREFIX_PATH "~/codac/build_install")
+
+  find_package(CODAC REQUIRED)
+  message(STATUS "Found Codac version ${CODAC_VERSION}")
+
+# Initializating Ibex
+
+  ibex_init_common()
+
+# Compilation
+
+  if(FAST_RELEASE)
+    add_compile_definitions(FAST_RELEASE)
+    message(STATUS "You are running Codac in fast release mode. (option -DCMAKE_BUILD_TYPE=Release is required)")
+  endif()
+
+  add_executable(${PROJECT_NAME} graphic_examples.cpp)
+  target_compile_options(${PROJECT_NAME} PUBLIC ${CODAC_CXX_FLAGS})
+  target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${CODAC_INCLUDE_DIRS})
+  target_link_libraries(${PROJECT_NAME} PUBLIC ${CODAC_LIBRARIES})

examples/00_graphics/graphic_examples.cpp

@@ -0,0 +1,94 @@
+#include <codac>
+
+using namespace std;
+using namespace codac2;
+
+int main(){
+
+  // Graphics can be directly called without a Figure2D instanciation, using "DefaultView"
+
+  DefaultView::set_window_properties({600,600},{300,300});
+  DefaultView::draw_box({{2.2,2.5},{2.2,2.5}},{Color::black(),Color::yellow(0.5)});
+  DefaultView::draw_AUV({1,1,3.14/2},1.,{Color::black(),Color::yellow()});
+  DefaultView::draw_tank({2,1,3.14/2},1.,{Color::black(),Color::yellow()});
+  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()});
+  DefaultView::draw_polyline({{2,-0.5},{4,0.5},{3,1.5},{4,2.5},{3,3}}, Color::red());
+  DefaultView::draw_polygone({{2,4.5},{4,4.5},{4.2,3.5},{3.5,3}}, {Color::none(),Color::green(0.5)});
+  DefaultView::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 DefaultView
+  DefaultView::set(fig2);
+  DefaultView::draw_box({{2.2,2.5},{2.2,2.5}},{Color::black(),Color::green(0.8)});
+
+  DefaultView::set(fig1);
+  DefaultView::draw_box({{2.2,2.5},{2.2,2.5}},{Color::blue(),Color::cyan(0.8)});
+
+  fig2->draw_AUV({1,1,3.14/2},2.,{Color::black(),Color::yellow()});
+  fig2->draw_tank({2,1,3.14/2},1.,{Color::black(),Color::yellow()});
+  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_polygone({{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)});
+
+  // 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 ("My Figure 3",GraphicOutput::VIBES|GraphicOutput::IPE);
+  fig3.set_axes(axis(0,{-1,21}), axis(1,{-5.5,0.5}));
+  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();
+
+  for (double i=0.; i<20; i++)
+  {
+    double ratio = i/20.;
+    fig3.draw_box({{i,i+1},{-1,0}},{Color::black(),cmap_haxby.color(ratio)});
+    fig3.draw_box({{i,i+1},{-2,-1}},{Color::black(),cmap_default.color(ratio)});
+    fig3.draw_box({{i,i+1},{-3,-2}},{Color::black(),cmap_blue_tube.color(ratio)});
+    fig3.draw_box({{i,i+1},{-4,-3}},{Color::black(),cmap_red_tube.color(ratio)});
+    fig3.draw_box({{i,i+1},{-5,-4}},{Color::black(),cmap_rainbow.color(ratio)});
+  }
+
+  Figure2D fig4 ("My Figure 4",GraphicOutput::VIBES);
+
+  fig4.set_axes(axis(0,{-10,10}), axis(1,{-10,10}));
+
+  double a=0.5;
+  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());
+}

examples/00_graphics/graphic_examples.py

@@ -75,14 +75,14 @@
     fig3.draw_box([[i,i+1],[-4,-3]],[Color.black(),cmap_red_tube.color(ratio)])
     fig3.draw_box([[i,i+1],[-5,-4]],[Color.black(),cmap_rainbow.color(ratio)])
 
-fig3 = Figure2D("My figure 3", GraphicOutput.VIBES)
+fig4 = Figure2D("My figure 4", GraphicOutput.VIBES)
 
-fig3.set_window_properties([500,50],[500,500]) 
-fig3.set_axes(axis(0,[-10,10]), axis(1,[-10,10])) 
+fig4.set_window_properties([500,50],[500,500]) 
+fig4.set_axes(axis(0,[-10,10]), axis(1,[-10,10])) 
 
 a = 0.8
 t=ScalarVar()
 # Fermat's spiral
 f1=AnalyticFunction([t], [a*sqrt(t)*cos(t),a*sqrt(t)*sin(t)])
-traj3=AnalyticTraj(f1, [0,100])
-fig3.draw_trajectory(traj3, ColorMap.rainbow())
+traj4=AnalyticTraj(f1, [0,100])
+fig4.draw_trajectory(traj4, ColorMap.rainbow())

examples/01_batman/CMakeLists.txt

@@ -8,16 +8,6 @@
   set(CMAKE_CXX_STANDARD 20)
   set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-# Adding IBEX
-
-  # In case you installed IBEX in a local directory, you need 
-  # to specify its path with the CMAKE_PREFIX_PATH option.
-  # set(CMAKE_PREFIX_PATH "~/ibex-lib/build_install")
-
-  find_package(IBEX REQUIRED)
-  ibex_init_common() # IBEX should have installed this function
-  message(STATUS "Found IBEX version ${IBEX_VERSION}")
-
 # Adding Codac
 
   # In case you installed Codac in a local directory, you need 
@@ -27,6 +17,10 @@
   find_package(CODAC REQUIRED)
   message(STATUS "Found Codac version ${CODAC_VERSION}")
 
+# Initializating Ibex
+
+  ibex_init_common()
+
 # Compilation
 
   if(FAST_RELEASE)
@@ -37,4 +31,4 @@
   add_executable(${PROJECT_NAME} main.cpp)
   target_compile_options(${PROJECT_NAME} PUBLIC ${CODAC_CXX_FLAGS})
   target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${CODAC_INCLUDE_DIRS})
-  target_link_libraries(${PROJECT_NAME} PUBLIC ${CODAC_LIBRARIES} Ibex::ibex)
+  target_link_libraries(${PROJECT_NAME} PUBLIC ${CODAC_LIBRARIES})

examples/02_centered_form/CMakeLists.txt

@@ -8,16 +8,6 @@
   set(CMAKE_CXX_STANDARD 20)
   set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-# Adding IBEX
-
-  # In case you installed IBEX in a local directory, you need 
-  # to specify its path with the CMAKE_PREFIX_PATH option.
-  # set(CMAKE_PREFIX_PATH "~/ibex-lib/build_install")
-
-  find_package(IBEX REQUIRED)
-  ibex_init_common() # IBEX should have installed this function
-  message(STATUS "Found IBEX version ${IBEX_VERSION}")
-
 # Adding Codac
 
   # In case you installed Codac in a local directory, you need 
@@ -27,6 +17,10 @@
   find_package(CODAC REQUIRED)
   message(STATUS "Found Codac version ${CODAC_VERSION}")
 
+# Initializating Ibex
+
+  ibex_init_common()
+
 # Compilation
 
   if(FAST_RELEASE)
@@ -37,4 +31,4 @@
   add_executable(${PROJECT_NAME} main.cpp)
   target_compile_options(${PROJECT_NAME} PUBLIC ${CODAC_CXX_FLAGS})
   target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${CODAC_INCLUDE_DIRS})
-  target_link_libraries(${PROJECT_NAME} PUBLIC ${CODAC_LIBRARIES} Ibex::ibex)
+  target_link_libraries(${PROJECT_NAME} PUBLIC ${CODAC_LIBRARIES})

examples/03_sivia/CMakeLists.txt

@@ -8,16 +8,6 @@
   set(CMAKE_CXX_STANDARD 20)
   set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-# Adding IBEX
-
-  # In case you installed IBEX in a local directory, you need 
-  # to specify its path with the CMAKE_PREFIX_PATH option.
-  # set(CMAKE_PREFIX_PATH "~/ibex-lib/build_install")
-
-  find_package(IBEX REQUIRED)
-  ibex_init_common() # IBEX should have installed this function
-  message(STATUS "Found IBEX version ${IBEX_VERSION}")
-
 # Adding Codac
 
   # In case you installed Codac in a local directory, you need 
@@ -27,6 +17,10 @@
   find_package(CODAC REQUIRED)
   message(STATUS "Found Codac version ${CODAC_VERSION}")
 
+# Initializating Ibex
+
+  ibex_init_common()
+
 # Compilation
 
   if(FAST_RELEASE)
@@ -37,4 +31,4 @@
   add_executable(${PROJECT_NAME} main.cpp)
   target_compile_options(${PROJECT_NAME} PUBLIC ${CODAC_CXX_FLAGS})
   target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${CODAC_INCLUDE_DIRS})
-  target_link_libraries(${PROJECT_NAME} PUBLIC ${CODAC_LIBRARIES} Ibex::ibex)
+  target_link_libraries(${PROJECT_NAME} PUBLIC ${CODAC_LIBRARIES})