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Thirdparty/Pangolin/include/pangolin/plot/plotter.h

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+/* This file is part of the Pangolin Project.
+ * http://github.com/stevenlovegrove/Pangolin
+ *
+ * Copyright (c) 2014 Steven Lovegrove
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following
+ * conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef PLOTTER_H
+#define PLOTTER_H
+
+#include <limits>
+
+#include <pangolin/display/view.h>
+#include <pangolin/gl/colour.h>
+#include <pangolin/gl/gl.h>
+#include <pangolin/gl/glfont.h>
+#include <pangolin/gl/glsl.h>
+#include <pangolin/handler/handler.h>
+#include <pangolin/plot/datalog.h>
+#include <pangolin/plot/range.h>
+
+#include <set>
+
+namespace pangolin
+{
+
+enum DrawingMode
+{
+    DrawingModePoints = GL_POINTS,
+    DrawingModeDashed = GL_LINES,
+    DrawingModeLine = GL_LINE_STRIP,
+    DrawingModeNone,
+};
+
+struct Marker
+{
+    enum Direction
+    {
+        Horizontal,
+        Vertical
+    };
+
+    enum Equality
+    {
+        LessThan = -1,
+        Equal = 0,
+        GreaterThan = 1
+    };
+
+    Marker(Direction d, float value, Equality leg = Equal, Colour c = Colour() )
+        : colour(c)
+    {
+        if(d == Horizontal) {
+            range.x = Rangef::Open();
+            range.y = Rangef::Containing(value);
+            if(leg == LessThan) {
+                range.y.Insert(std::numeric_limits<float>::lowest() );
+            }else if(leg == GreaterThan) {
+                range.y.Insert(std::numeric_limits<float>::max() );
+            }
+        }else if(d == Vertical) {
+            range.x = Rangef::Containing(value);
+            range.y = Rangef::Open();
+            if(leg == LessThan) {
+                range.x.Insert(std::numeric_limits<float>::lowest() );
+            }else if(leg == GreaterThan) {
+                range.x.Insert(std::numeric_limits<float>::max() );
+            }
+        }
+    }
+
+    Marker(const XYRangef& range, const Colour& c = Colour() )
+        : range(range), colour(c)
+    {
+    }
+
+    XYRangef range;
+    Colour colour;
+};
+
+class PANGOLIN_EXPORT Plotter : public View, Handler
+{
+public:
+    Plotter(
+        DataLog* default_log,
+        float left=0, float right=600, float bottom=-1, float top=1,
+        float tickx=30, float ticky=0.5,
+        Plotter* linked_plotter_x = 0,
+        Plotter* linked_plotter_y = 0
+    );
+
+    virtual ~Plotter();
+
+    void Render();
+
+    XYRangef& GetSelection();
+
+    XYRangef& GetDefaultView();
+    void SetDefaultView(const XYRangef& range);
+
+    XYRangef& GetView();
+    void SetView(const XYRangef& range);
+    void SetViewSmooth(const XYRangef& range);
+
+    void ScrollView(float x, float y);
+    void ScrollViewSmooth(float x, float y);
+
+    void ScaleView(float x, float y, float cx, float cy);
+    void ScaleViewSmooth(float x, float y, float cx, float cy);
+
+    void ResetView();
+
+    void SetTicks(float tickx, float ticky);
+
+    void Track(const std::string& x="$i", const std::string& y = "");
+    void ToggleTracking();
+
+    void Trigger(const std::string& x="$0", int edge = -1, float value = 0.0f);
+    void ToggleTrigger();
+
+    void SetBackgroundColour(const Colour& col);
+    void SetAxisColour(const Colour& col);
+    void SetTickColour(const Colour& col);
+
+    void ScreenToPlot(int xpix, int ypix, float &xplot, float &yplot);
+    void Keyboard(View&, unsigned char key, int x, int y, bool pressed);
+    void Mouse(View&, MouseButton button, int x, int y, bool pressed, int mouse_state);
+    void MouseMotion(View&, int x, int y, int mouse_state);
+    void PassiveMouseMotion(View&, int x, int y, int button_state);
+    void Special(View&, InputSpecial inType, float x, float y, float p1, float p2, float p3, float p4, int button_state);
+
+    /// Remove all current series plots
+    void ClearSeries();
+
+    /// Add series X,Y plot from glsl compatible expressions x_expr, y_expr
+    /// $i refers to integral index of datum in log.
+    /// $0, $1, $2, ... refers to nth series in log.
+    ///    e.g. x_expr = "$i", y_expr = "$0"       // index - data[0] plot
+    ///    e.g. x_expr = "$0", y_expr = "$1"       // data[0], data[1] X-Y plot
+    ///    e.g. x_exptr ="$i", y_expr = "sqrt($1)} // index - sqrt(data[0]) plot
+    void AddSeries(const std::string& x_expr, const std::string& y_expr,
+        DrawingMode drawing_mode = DrawingModeLine, Colour colour = Colour::Unspecified(),
+        const std::string &title = "$y", DataLog* log = nullptr
+    );
+
+    std::string PlotTitleFromExpr(const std::string& expr) const;
+
+    /// Remove all current markers
+    void ClearMarkers();
+
+    /// Add horizontal or vertical inequality marker; equal-to, less-than, or greater than.
+    /// This is useful for annotating a critical point or valid region.
+    Marker& AddMarker(
+        Marker::Direction d, float value,
+        Marker::Equality leg = Marker::Equal, Colour c = Colour()
+    );
+
+    Marker& AddMarker( const Marker& marker );
+
+    void ClearImplicitPlots();
+    void AddImplicitPlot();
+
+    /// Reset colour wheel to initial state. May be useful together with ClearSeries() / ClearMarkers()
+    void ResetColourWheel();
+
+protected:
+    struct PANGOLIN_EXPORT Tick
+    {
+        float val;
+        float factor;
+        std::string symbol;
+    };
+
+    struct PANGOLIN_EXPORT PlotAttrib
+    {
+        PlotAttrib(std::string name, int plot_id, int location = -1)
+            : name(name), plot_id(plot_id), location(location) { }
+
+        std::string name;
+        int plot_id;
+        int location;
+    };
+
+    struct PANGOLIN_EXPORT PlotSeries
+    {
+        PlotSeries();
+        void CreatePlot(const std::string& x, const std::string& y, Colour c, std::string title);
+
+        GlSlProgram prog;
+        GlText title;
+        bool contains_id;
+        std::vector<PlotAttrib> attribs;
+        DataLog* log;
+        GLenum drawing_mode;
+        Colour colour;
+        bool used;
+    };
+
+    struct PANGOLIN_EXPORT PlotImplicit
+    {
+        // Assign to gl_FragColor
+        void CreatePlot(const std::string& code);
+
+        // Expression uses x,y and assignes colours [0,1] to r,g,b,a
+        void CreateColouredPlot(const std::string& code);
+
+        // Expression uses x,y and evaluates to true/false;
+        void CreateInequality(const std::string& ie, Colour c);
+
+        // Expression uses x,y and evaluates to a number
+        void CreateDistancePlot(const std::string& dist);
+
+        GlSlProgram prog;
+    };
+
+    void FixSelection();
+    void UpdateView();
+    Tick FindTickFactor(float tick);
+
+    DataLog* default_log;
+
+    ColourWheel colour_wheel;
+    Colour colour_bg;
+    Colour colour_tk;
+    Colour colour_ax;
+
+    GlSlProgram prog_lines;
+    GlSlProgram prog_text;
+
+    std::vector<PlotSeries> plotseries;
+    std::vector<Marker> plotmarkers;
+    std::vector<PlotImplicit> plotimplicits;
+
+    Tick tick[2];
+    XYRangef rview_default;
+    XYRangef rview;
+    XYRangef target;
+    XYRangef selection;
+
+    void ComputeTrackValue( float track_val[2] );
+    XYRangef ComputeAutoSelection();
+
+    bool track;
+    std::string track_x;
+    std::string track_y;
+    float last_track_val[2];
+
+    // -1: falling, -0:disable, 1: rising
+    int trigger_edge;
+    float trigger_value;
+    std::string trigger;
+
+    float hover[2];
+    int last_mouse_pos[2];
+
+    Plotter* linked_plotter_x;
+    Plotter* linked_plotter_y;
+};
+
+} // namespace pangolin
+
+#endif // PLOTTER_H