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dragonpilot/phonelibs/acado/include/acado/user_interaction/plot_window.hpp
George Hotz da6863f427 bring over phonelibs minus frida-gum and qsml
2020-01-17 10:37:11 -08:00

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/*
* This file is part of ACADO Toolkit.
*
* ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
* Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
* Milan Vukov, Rien Quirynen, KU Leuven.
* Developed within the Optimization in Engineering Center (OPTEC)
* under supervision of Moritz Diehl. All rights reserved.
*
* ACADO Toolkit is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 3 of the License, or (at your option) any later version.
*
* ACADO Toolkit 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
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with ACADO Toolkit; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*
*/
/**
* \file include/acado/user_interaction/plot_window.hpp
* \author Hans Joachim Ferreau, Boris Houska
*/
#ifndef ACADO_TOOLKIT_PLOT_WINDOW_HPP
#define ACADO_TOOLKIT_PLOT_WINDOW_HPP
#include <acado/utils/acado_utils.hpp>
#include <acado/matrix_vector/matrix_vector.hpp>
#include <acado/symbolic_expression/symbolic_expression.hpp>
#include <acado/function/function.hpp>
#include <acado/user_interaction/plot_window_subplot.hpp>
#include <acado/user_interaction/log_record.hpp>
BEGIN_NAMESPACE_ACADO
/**
* \brief Allows to setup and plot user-specified plot windows for algorithmic outputs.
*
* \ingroup UserDataStructures
*
* The class PlotWindow allows to setup and plot user-specified plot windows for
* algorithmic outputs to be plotted during runtime.
*
* A plot windows comprises arbitrarily many PlotWindowSubplots stored in a simple
* singly-linked list. These subplots store the information which algorithmic
* output is to be plotted as well as settings defining the style of the subplot.
* Note, however, that the actual data to be plotted is stored centrally for all
* subplots within the PlotWindow class for memory reasons. The data required for
* plotting is stored within a LogRecord.
*
* Additionally, a plot window stores the PlotFrequency defining whether the window
* is to be plotted at each iteration or only at the start or end, respectively.
*
* Finally, it is interesting to know that PlotWindows can be setup by the user and
* flushed to UserInterface classes. Internally, PlotWindows are stored as basic
* singly-linked within a PlotCollection.
*
* \note The class PlotWindow is designed as non-abstract base class for interfacing
* different plotting routines, e.g. the interface to Gnuplot.
*
* \author Hans Joachim Ferreau, Boris Houska
*/
class PlotWindow
{
friend class PlotCollection;
friend class Plotting;
//
// PUBLIC MEMBER FUNCTIONS:
//
public:
/** Default constructor.
*/
PlotWindow( );
/** Constructor which takes the plot frequency.
*
* @param[in] _frequency Frequency determining at which time instants the window is to be plotted.
*/
PlotWindow( PlotFrequency _frequency
);
/** Copy constructor (deep copy).
*
* @param[in] rhs Right-hand side object.
*/
PlotWindow( const PlotWindow& rhs
);
/** Destructor.
*/
virtual ~PlotWindow( );
/** Assignment operator (deep copy).
*
* @param[in] rhs Right-hand side object.
*/
PlotWindow& operator=( const PlotWindow& rhs
);
/** Clone operator returning a base class pointer to a deep copy
* of the respective class instance.
*
* \return Base class pointer to a deep copy of respective class instance
*/
virtual PlotWindow* clone( ) const;
/** Initialized the plot window.
*
* \return SUCCESSFUL_RETURN
*/
virtual returnValue init( );
/** Plots window into a new figure.
*
* @param[in] _frequency Frequency determining at which time instants the window is to be plotted.
*
* \return SUCCESSFUL_RETURN
*/
virtual returnValue plot( PlotFrequency _frequency = PLOT_IN_ANY_CASE
);
/** Plots window into existing figure, if possible.
*
* @param[in] _frequency Frequency determining at which time instants the window is to be plotted.
*
* \return SUCCESSFUL_RETURN
*/
virtual returnValue replot( PlotFrequency _frequency = PLOT_IN_ANY_CASE
);
/** Sets title of the subplot with given index.
*
* @param[in] idx Index of subplot.
* @param[in] title_ New title.
*
* \return SUCCESSFUL_RETURN, \n
* RET_INDEX_OUT_OF_BOUNDS
*/
virtual returnValue setTitle( uint idx,
const char* const title_
);
/** Sets label of x-axis of the subplot with given index.
*
* @param[in] idx Index of subplot.
* @param[in] xLabel_ New label of x-axis.
*
* \return SUCCESSFUL_RETURN, \n
* RET_INDEX_OUT_OF_BOUNDS
*/
virtual returnValue setLabelX( uint idx,
const char* const xLabel_
);
/** Sets label of y-axis of the subplot with given index.
*
* @param[in] idx Index of subplot.
* @param[in] yLabel_ New label of y-axis.
*
* \return SUCCESSFUL_RETURN, \n
* RET_INDEX_OUT_OF_BOUNDS
*/
virtual returnValue setLabelY( uint idx,
const char* const yLabel_
);
/** Sets plot mode of the subplot with given index, defining how the data points are to be plotted.
*
* @param[in] idx Index of subplot.
* @param[in] plotMode New plot mode, see the PlotMode documentation for details.
*
* \return SUCCESSFUL_RETURN, \n
* RET_INDEX_OUT_OF_BOUNDS
*/
virtual returnValue setPlotMode( uint idx,
PlotMode plotMode
);
/** Sets ranges of the axes of the subplot with given index.
*
* @param[in] idx Index of subplot.
* @param[in] xRange1 Lower limit of the x-axis.
* @param[in] xRange2 Upper limit of the x-axis.
* @param[in] yRange1 Lower limit of the y-axis.
* @param[in] yRange2 Upper limit of the y-axis.
*
* \return SUCCESSFUL_RETURN, \n
* RET_INDEX_OUT_OF_BOUNDS, \n
* RET_INVALID_ARGUMENTS
*/
virtual returnValue setRanges( uint idx,
double xRange1,
double xRange2,
double yRange1,
double yRange2
);
/** Adds an additional horizontal lines to be plotted within the subplot with given index.
*
* @param[in] idx Index of subplot.
* @param[in] _lineValue Y-value of the additional horizontal line.
*
* \return SUCCESSFUL_RETURN, \n
* RET_INDEX_OUT_OF_BOUNDS
*/
virtual returnValue addLine( uint idx,
double _lineValue
);
/** Adds an additional discrete data points to be plotted within the subplot with given index.
*
* @param[in] idx Index of subplot.
* @param[in] _newData Additional discrete data points.
*
* \return SUCCESSFUL_RETURN, \n
* RET_INDEX_OUT_OF_BOUNDS
*/
virtual returnValue addData( uint idx,
const VariablesGrid& _newData
);
/** Returns a subplot of the singly-linked list with given index.
*
* @param[in] idx Index of desired subplot.
*
* \return Subplot with given index.
*/
inline PlotWindowSubplot& operator()( uint idx
);
/** Returns a subplot of the singly-linked list with given index (const version).
*
* @param[in] idx Index of desired subplot.
*
* \return Subplot with given index.
*/
inline PlotWindowSubplot operator()( uint idx
) const;
/** Adds a subplot to the singly-linked list.
*
* @param[in] _subplot Subplot to be added.
*
* \note This function is doing the same as the corresponding
* addSubplot member function and is introduced for syntax reasons only.
*
* \return SUCCESSFUL_RETURN, \n
* RET_PLOT_WINDOW_CORRUPTED
*/
returnValue operator<<( PlotWindowSubplot& _subplot
);
/** Adds an subplot of given internal name to the singly-linked list.
*
* @param[in] _name Internal name of subplot to be added.
*
* \note This function is doing the same as the corresponding
* addSubplot member function and is introduced for syntax reasons only.
*
* \return SUCCESSFUL_RETURN
*/
returnValue operator<<( PlotName _name
);
/** Adds an subplot of given internal name to the singly-linked list.
*
* @param[in] _name Internal name of subplot to be added.
*
* \note This function is doing the same as the corresponding
* addSubplot member function and is introduced for syntax reasons only.
*
* \return SUCCESSFUL_RETURN
*/
returnValue operator<<( const Expression& _name
);
/** Adds a subplot to the singly-linked list.
*
* @param[in] _subplot Subplot to be added.
*
* \return SUCCESSFUL_RETURN, \n
* RET_PLOT_WINDOW_CORRUPTED
*/
returnValue addSubplot( PlotWindowSubplot& _subplot
);
/** Adds a subplot plotting the given symbolic expression to the singly-linked list.
* In addition, title and other properties of the subplot can be specified.
*
* @param[in] _expression Symbolic expression to be plotted on the y-axis.
* @param[in] _title Title of the subplot.
* @param[in] _xLabel Label of x-axis of the subplot.
* @param[in] _yLabel Label of y-axis of the subplot.
* @param[in] _plotMode Plot mode, see the PlotMode documentation for details.
* @param[in] _xRangeLowerLimit Lower limit of the x-axis.
* @param[in] _xRangeUpperLimit Upper limit of the x-axis.
* @param[in] _yRangeLowerLimit Lower limit of the y-axis.
* @param[in] _yRangeUpperLimit Upper limit of the y-axis.
*
* \return SUCCESSFUL_RETURN, \n
* RET_PLOT_COLLECTION_CORRUPTED, \n
* RET_LOG_RECORD_CORRUPTED
*/
returnValue addSubplot( const Expression& _expression,
const char* const _title = "",
const char* const _xLabel = "",
const char* const _yLabel = "",
PlotMode _plotMode = PM_UNKNOWN,
double _xRangeLowerLimit = INFTY,
double _xRangeUpperLimit = INFTY,
double _yRangeLowerLimit = INFTY,
double _yRangeUpperLimit = INFTY
);
/** Adds a subplot plotting the given symbolic expressions to the singly-linked list.
* In addition, title and other properties of the subplot can be specified.
*
* @param[in] _expressionX Symbolic expression to be plotted on the x-axis.
* @param[in] _expressionY Symbolic expression to be plotted on the y-axis.
* @param[in] _title Title of the subplot.
* @param[in] _xLabel Label of x-axis of the subplot.
* @param[in] _yLabel Label of y-axis of the subplot.
* @param[in] _plotMode Plot mode, see the PlotMode documentation for details.
* @param[in] _xRangeLowerLimit Lower limit of the x-axis.
* @param[in] _xRangeUpperLimit Upper limit of the x-axis.
* @param[in] _yRangeLowerLimit Lower limit of the y-axis.
* @param[in] _yRangeUpperLimit Upper limit of the y-axis.
*
* \return SUCCESSFUL_RETURN, \n
* RET_PLOT_COLLECTION_CORRUPTED, \n
* RET_LOG_RECORD_CORRUPTED
*/
returnValue addSubplot( const Expression& _expressionX,
const Expression& _expressionY,
const char* const _title = "",
const char* const _xLabel = "",
const char* const _yLabel = "",
PlotMode _plotMode = PM_UNKNOWN,
double _xRangeLowerLimit = INFTY,
double _xRangeUpperLimit = INFTY,
double _yRangeLowerLimit = INFTY,
double _yRangeUpperLimit = INFTY
);
/** Adds a subplot plotting the given pre-defined information to the singly-linked list.
* In addition, title and other properties of the subplot can be specified.
*
* @param[in] _name Internal name of pre-defined information to be plotted.
* @param[in] _title Title of the subplot.
* @param[in] _xLabel Label of x-axis of the subplot.
* @param[in] _yLabel Label of y-axis of the subplot.
* @param[in] _plotMode Plot mode, see the PlotMode documentation for details.
* @param[in] _xRangeLowerLimit Lower limit of the x-axis.
* @param[in] _xRangeUpperLimit Upper limit of the x-axis.
* @param[in] _yRangeLowerLimit Lower limit of the y-axis.
* @param[in] _yRangeUpperLimit Upper limit of the y-axis.
*
* \return SUCCESSFUL_RETURN, \n
* RET_PLOT_COLLECTION_CORRUPTED, \n
* RET_LOG_RECORD_CORRUPTED
*/
returnValue addSubplot( PlotName _name,
const char* const _title = "",
const char* const _xLabel = "",
const char* const _yLabel = "",
PlotMode _plotMode = PM_UNKNOWN,
double _xRangeLowerLimit = INFTY,
double _xRangeUpperLimit = INFTY,
double _yRangeLowerLimit = INFTY,
double _yRangeUpperLimit = INFTY
);
/** Adds a subplot plotting the given discrete data to the singly-linked list.
* In addition, title and other properties of the subplot can be specified.
*
* @param[in] _variable Discrete data to be plotted on the y-axis.
* @param[in] _title Title of the subplot.
* @param[in] _xLabel Label of x-axis of the subplot.
* @param[in] _yLabel Label of y-axis of the subplot.
* @param[in] _plotMode Plot mode, see the PlotMode documentation for details.
* @param[in] _xRangeLowerLimit Lower limit of the x-axis.
* @param[in] _xRangeUpperLimit Upper limit of the x-axis.
* @param[in] _yRangeLowerLimit Lower limit of the y-axis.
* @param[in] _yRangeUpperLimit Upper limit of the y-axis.
*
* \return SUCCESSFUL_RETURN, \n
* RET_PLOT_COLLECTION_CORRUPTED, \n
* RET_LOG_RECORD_CORRUPTED
*/
returnValue addSubplot( const VariablesGrid& _variable,
const char* const _title = "",
const char* const _xLabel = "",
const char* const _yLabel = "",
PlotMode _plotMode = PM_UNKNOWN,
double _xRangeLowerLimit = INFTY,
double _xRangeUpperLimit = INFTY,
double _yRangeLowerLimit = INFTY,
double _yRangeUpperLimit = INFTY
);
/** Adds a 3D subplot plotting the given discrete data to the singly-linked list.
* In addition, title and other properties of the subplot can be specified.
*
* @param[in] _variable Discrete data to be plotted on the y-axis.
* @param[in] _title Title of the subplot.
* @param[in] _xLabel Label of x-axis of the subplot.
* @param[in] _yLabel Label of y-axis of the subplot.
* @param[in] _plotMode Plot mode, see the PlotMode documentation for details.
* @param[in] _xRangeLowerLimit Lower limit of the x-axis.
* @param[in] _xRangeUpperLimit Upper limit of the x-axis.
* @param[in] _yRangeLowerLimit Lower limit of the y-axis.
* @param[in] _yRangeUpperLimit Upper limit of the y-axis.
*
* \return SUCCESSFUL_RETURN, \n
* RET_PLOT_COLLECTION_CORRUPTED, \n
* RET_LOG_RECORD_CORRUPTED
*/
returnValue addSubplot3D( const VariablesGrid& _variable,
const char* const _title = "",
const char* const _xLabel = "",
const char* const _yLabel = "",
PlotMode _plotMode = PM_UNKNOWN,
double _xRangeLowerLimit = INFTY,
double _xRangeUpperLimit = INFTY,
double _yRangeLowerLimit = INFTY,
double _yRangeUpperLimit = INFTY
);
/** Adds a subplot plotting the given curve to the singly-linked list.
* In addition, title and other properties of the subplot can be specified.
*
* @param[in] _curve Curve to be plotted on the y-axis.
* @param[in] _xRangeLowerLimit Lower limit of the x-axis.
* @param[in] _xRangeUpperLimit Upper limit of the x-axis.
* @param[in] _title Title of the subplot.
* @param[in] _xLabel Label of x-axis of the subplot.
* @param[in] _yLabel Label of y-axis of the subplot.
* @param[in] _plotMode Plot mode, see the PlotMode documentation for details.
* @param[in] _yRangeLowerLimit Lower limit of the y-axis.
* @param[in] _yRangeUpperLimit Upper limit of the y-axis.
*
* \return SUCCESSFUL_RETURN, \n
* RET_PLOT_COLLECTION_CORRUPTED, \n
* RET_LOG_RECORD_CORRUPTED
*/
returnValue addSubplot( const Curve& _curve,
double _xRangeLowerLimit = 0.0,
double _xRangeUpperLimit = 1.0,
const char* const _title = "",
const char* const _xLabel = "",
const char* const _yLabel = "",
PlotMode _plotMode = PM_UNKNOWN,
double _yRangeLowerLimit = INFTY,
double _yRangeUpperLimit = INFTY
);
/** Clears all subplots from the singly-linked list.
*
* \return SUCCESSFUL_RETURN
*/
returnValue clearAllSubplots( );
/** Returns current plot frequency determining at which time instants
* the window is to be plotted
*
* \return Current plot frequency
*/
inline PlotFrequency getPlotFrequency( ) const;
/** Returns number of subplots contained in the window.
*
* \return Number of subplots
*/
inline uint getNumSubplots( ) const;
/** Returns whether the window is empty (i.e. contains no subplots) or not.
*
* \return BT_TRUE iff window is empty, \n
* BT_FALSE otherwise
*/
inline BooleanType isEmpty( ) const;
/** Returns deep-copy of internal plotDataRecord.
*
* @param[out] _record Internal plotDataRecord.
*
* \return SUCCESSFUL_RETURN
*/
inline returnValue getPlotDataRecord( LogRecord& _record
) const;
/** Assigns new internal plotDataRecord.
*
* @param[in] _record New internal plotDataRecord.
*
* \return SUCCESSFUL_RETURN
*/
inline returnValue setPlotDataRecord( LogRecord& _record
);
/** Assigns numerical values of given expression/variable
* to internal plotDataRecord.
*
* @param[in] _name Name of expression/variable to be plotted.
* @param[in] value New numerical values in form of a discrete data grid.
*
* \return SUCCESSFUL_RETURN
*/
inline returnValue setPlotData( const Expression& _name,
VariablesGrid& value
);
/** Assigns numerical values of given pre-defined plotting
* information to internal plotDataRecord.
*
* @param[in] _name Name of pre-defined information to be plotted.
* @param[in] value New numerical values in form of a discrete data grid.
*
* \return SUCCESSFUL_RETURN
*/
inline returnValue setPlotData( LogName _name,
VariablesGrid& value
);
/** Returns whether window is an alias of another one.
*
* \return BT_TRUE iff window is an alias, \n
* BT_FALSE otherwise
*/
inline BooleanType isAlias( ) const;
/** Returns alias index of window.
*
* \return >= 0: alias index of window, \n
* -1: window is not an alias window
*/
inline int getAliasIdx( ) const;
//
// PROTECTED MEMBER FUNCTIONS:
//
protected:
/** Assigns pointer to next PlotWindow within a PlotCollection.
*
* @param[in] _next New pointer to next window.
*
* \return SUCCESSFUL_RETURN
*/
inline returnValue setNext( PlotWindow* const _next
);
/** Returns pointer to next PlotWindow within a PlotCollection.
*
* \return Pointer to next window (or NULL iff window is terminal element).
*/
inline PlotWindow* getNext( ) const;
/** Adds all log record items to internal plotDataRecord that
* that are required to plot variables of given type.
*
* @param[in] _type Type of variable to be plotted.
*
* \return SUCCESSFUL_RETURN
*/
returnValue addPlotDataItem( VariableType _type
);
/** Adds all log record items to internal plotDataRecord that
* that are required to plot given expression.
*
* @param[in] _expression Expression to be plotted.
*
* \return SUCCESSFUL_RETURN
*/
returnValue addPlotDataItem( const Expression* const _expression
);
/** Adds all log record items to internal plotDataRecord that
* that are required to plot given pre-defined information.
*
* @param[in] _name Pre-defined information to be plotted.
*
* \return SUCCESSFUL_RETURN
*/
returnValue addPlotDataItem( PlotName _name
);
/** Returns internal name of pre-defined logging information that
* corresponds to given pre-defined plotting information.
*
* @param[in] _name Pre-defined information to be plotted.
*
* \return Internal name of pre-defined logging information
*/
LogName convertPlotToLogName( PlotName _name
) const;
/** Returns internal name of pre-defined plotting information that
* corresponds to given pre-defined logging information.
*
* @param[in] _name Name of pre-defined logging information.
*
* \return Internal name of pre-defined plotting information
*/
PlotName convertLogToPlotName( LogName _name
) const;
/** Sets-up log frequency that corresponds to given plot frequency
* determining at which time instants the window is to be plotted.
*
* @param[in] _frequency Plot frequency.
*
* \return SUCCESSFUL_RETURN
*/
returnValue setupLogFrequency( PlotFrequency _frequency = PLOT_AT_EACH_ITERATION
);
/** Assigns alias index of window.
*
* @param[in] _aliasIdx New alias index (-1 = no alias window)
*
* \return SUCCESSFUL_RETURN
*/
inline returnValue setAliasIdx( int _aliasIdx
);
/** Determines type, discrete plot data grid and the higher-level
* discretization grid for a given variable to be plotted. The
* last two arguments are obtained from the internal plotDataRecord.
*
* @param[in] variable Variable to be plotted.
* @param[out] _type Type of variable to be plotted.
* @param[out] _dataGrid Discrete plot data grid of variable to be plotted.
* @param[out] _discretizationGrid Higher-level discretization grid of variable to be plotted.
*
* \return SUCCESSFUL_RETURN
*/
returnValue getVariableDataGrids( const Expression* const variable,
VariableType& _type,
VariablesGrid& _dataGrid,
Grid& _discretizationGrid
);
/** Determines type, discrete plot data grid and the higher-level
* discretization grid for a given expression to be plotted. The
* last two arguments are obtained from the internal plotDataRecord.
*
* @param[in] expression Expression to be plotted.
* @param[out] _type Type of variable to be plotted.
* @param[out] _dataGrid Discrete plot data grid of variable to be plotted.
* @param[out] _discretizationGrid Higher-level discretization grid of variable to be plotted.
*
* \return SUCCESSFUL_RETURN
*/
returnValue getExpressionDataGrids( const Expression* const expression,
VariableType& _type,
VariablesGrid& _dataGrid,
Grid& _discretizationGrid
);
/** Determines type and discrete plot data grid for a given data grid to
* be plotted.
*
* @param[in] variable Variable to be plotted.
* @param[out] _type Type of variable to be plotted.
* @param[out] _dataGrid Discrete plot data grid of variable to be plotted.
* @param[out] _discretizationGrid Higher-level discretization grid of variable to be plotted.
*
* \return SUCCESSFUL_RETURN
*/
returnValue getDataGrids( const VariablesGrid* const variablesGrid,
VariableType& _type,
VariablesGrid& _dataGrid,
Grid& _discretizationGrid
);
/** Determines suitable range of the y-axis for plotting a given
* discrete data grid in an automated way.
*
* @param[in] dataGridY Discrete data grid to be plotted.
* @param[in] plotFormat Plot format of data grid to be plotted.
* @param[out] lowerLimit Suggested lower limit of the y-axis.
* @param[out] upperLimit Suggested upper limit of the y-axis.
*
* \return SUCCESSFUL_RETURN
*/
returnValue getAutoScaleYLimits( const VariablesGrid& dataGridY,
PlotFormat plotFormat,
double& lowerLimit,
double& upperLimit
) const;
inline returnValue enableNominalControls( );
inline returnValue disableNominalControls( );
inline returnValue enableNominalParameters( );
inline returnValue disableNominalParameters( );
inline returnValue enableNominalOutputs( );
inline returnValue disableNominalOutputs( );
//
// DATA MEMBERS:
//
protected:
PlotWindow* next; /**< Pointer to next windows within a PlotCollection. */
int aliasIdx; /**< Alias index of window (-1 = no alias window). */
PlotFrequency frequency; /**< Frequency determining at which time instants the window is to be plotted. */
PlotWindowSubplot* first; /**< Pointer to first subplot of the singly-linked list. */
PlotWindowSubplot* last; /**< Pointer to last subplot of the singly-linked list. */
uint number; /**< Total number of subplots within the singly-linked list of the window. */
LogRecord plotDataRecord; /**< LogRecord to store all data necessary for plotting the window. */
BooleanType shallPlotNominalControls;
BooleanType shallPlotNominalParameters;
BooleanType shallPlotNominalOutputs;
};
CLOSE_NAMESPACE_ACADO
#include <acado/user_interaction/plot_window.ipp>
#endif // ACADO_TOOLKIT_PLOT_WINDOW_HPP
/*
* end of file
*/
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