diff --git a/CMakeLists.txt b/CMakeLists.txt index 0b0da92d..3d86d397 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -108,7 +108,6 @@ target_link_libraries(cmvr_es PRIVATE cmvr_es::proto service ${GLOG_LIBRARIES} - gflags jsoncpp cmvr_es::utils cmvr_es::service diff --git a/README.md b/README.md index 4e1597a9..03b74a5e 100644 --- a/README.md +++ b/README.md @@ -43,4 +43,9 @@ sudo apt-get install -y libx11-dev liblapack-dev libzbar-dev libpthread-stubs0-d sudo apt-get install -y \ libusb-1.0-0-dev libudev-dev \ libglu1-mesa-dev + +# Matplot++ +sudo apt install gnuplot-qt ``` + + diff --git a/cmvr-es/common/CMakeLists.txt b/cmvr-es/common/CMakeLists.txt index 38902ace..3bdc2226 100644 --- a/cmvr-es/common/CMakeLists.txt +++ b/cmvr-es/common/CMakeLists.txt @@ -6,7 +6,6 @@ file(GLOB SRC ${CMAKE_CURRENT_SOURCE_DIR}/utils/ffmpeg/src/CameraCapture.cpp ${CMAKE_CURRENT_SOURCE_DIR}/utils/ffmpeg/src/VideoFrameEncoder.cpp ${CMAKE_CURRENT_SOURCE_DIR}/utils/ffmpeg/src/VideoWriter.cpp - ${CMAKE_CURRENT_SOURCE_DIR}/curve/src/s_curve.cpp ) @@ -18,6 +17,7 @@ target_include_directories(common PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) target_link_libraries(common PUBLIC cmvr_es::proto + glog opencv_core opencv_imgproc opencv_highgui @@ -31,18 +31,33 @@ target_link_libraries(common PUBLIC add_library(cmvr_es::common ALIAS common) install(TARGETS common LIBRARY DESTINATION lib) -add_executable(image_display_test - utils/visualization/image_display_test.cpp -) - -target_link_libraries(image_display_test - PRIVATE - cmvr_es::common - cmvr_es::perception - cmvr_es::device::realsense_camera - cmvr_es::proto - glog - gtest - gtest_main - pthread -) +#add_executable(image_display_test +# utils/visualization/image_display_test.cpp +#) +# +#target_link_libraries(image_display_test +# PRIVATE +# cmvr_es::common +# cmvr_es::perception +# cmvr_es::device::realsense_camera +# cmvr_es::proto +# glog +# gtest +# gtest_main +# pthread +#) +# +#add_executable(s_curve_test +# curve/src/s_curve_test.cpp +#) +# +#target_link_libraries(s_curve_test +# PRIVATE +# cmvr_es::common +# cmvr_es::proto +# glog +# gtest +# gtest_main +# pthread +# Matplot++::matplot +#) diff --git a/cmvr-es/common/curve/include/s_curve.h b/cmvr-es/common/curve/include/s_curve.h index 666fb437..bc796ada 100644 --- a/cmvr-es/common/curve/include/s_curve.h +++ b/cmvr-es/common/curve/include/s_curve.h @@ -3,9 +3,9 @@ // /** * @file s_curve.h - * @brief 标准 7 段式 S 曲线轨迹生成器（用于平滑运动控制） - * - * 实现标准 7 段式 S 曲线速度剖面： + * @brief 严格点到点位置 S 曲线轨迹生成器 + * + * 实现标准 7 段式位置 S 曲线速度剖面： * 1. 加加速度上升段（加速度逐渐增大） * 2. 匀加速段 * 3. 加加速度下降段（加速度逐渐降到 0） @@ -13,17 +13,14 @@ * 5. 加加速度下降段（减速度逐渐增大） * 6. 匀减速段 * 7. 加加速度上升段（减速度逐渐降到 0） - * - * 特性： - * - 支持摇杆等实时增量更新 - * - 支持生成完整轨迹（用于 MoveIt 路径再参数化） - * - 支持配置 max_velocity / max_acceleration / max_jerk + * + * 本类只负责严格点到点 profile 规划与采样，不负责实时目标跟踪。 */ #pragma once -#include #include +#include #include @@ -61,42 +58,19 @@ struct SCurveProfile double p0; // 初始位置 double v0; // 初始速度 double a0; // 初始加速度 + double vf; // 终止速度 SCurveProfile() : t1(0), t2(0), t3(0), t4(0), t5(0), t6(0), t7(0) , total_time(0) , j_max(50.0), a_max(10.0), v_max(3.0) , distance(0), direction(1.0), v_cruise(0), a_limit(0) - , p0(0), v0(0), a0(0) + , p0(0), v0(0), a0(0), vf(0) {} }; /** - * @brief 实时增量 S 曲线控制的状态量 - */ -struct SCurveState -{ - double position; - double velocity; - double acceleration; - double jerk; - - // 目标跟踪 - double target_position; - bool is_moving; - - SCurveState() - : position(0), velocity(0), acceleration(0), jerk(0) - , target_position(0), is_moving(false) - {} -}; - -/** - * @brief S 曲线轨迹生成器 - * - * 提供两种工作模式： - * 1. 实时模式：根据目标变化持续更新位置 - * 2. 轨迹模式：针对给定位移生成完整轨迹 + * @brief 严格点到点位置 S 曲线规划器 */ class SCurve { @@ -121,68 +95,6 @@ public: */ void getConstraints(double& max_velocity, double& max_acceleration, double& max_jerk) const; - /** - * @brief 使用当前状态初始化生成器 - * @param position 当前位置 - * @param velocity 当前速度（默认 0） - * @param acceleration 当前加速度（默认 0） - */ - void initialize(double position, double velocity = 0.0, double acceleration = 0.0); - - /** - * @brief 重置为初始状态 - */ - void reset(); - - // ==================== 实时模式 ==================== - - /** - * @brief 更新目标位置（实时模式） - * @param target_position 新目标位置 - */ - void setTarget(double target_position); - - /** - * @brief 使用 S 曲线剖面计算下一步位置（实时模式） - * @param dt 时间步长（秒） - * @return 更新后的位置 - * - * 本方法通过以下步骤实现实时 S 曲线控制： - * 1. 根据位置误差计算期望速度 - * 2. 限制加速度变化（加加速度限制） - * 3. 限制加速度 - * 4. 限制速度 - * 5. 积分得到新的位置 - */ - double update(double dt); - - /** - * @brief 获取当前状态 - */ - const SCurveState& getState() const { return state_; } - - /** - * @brief 获取当前位置 - */ - double getPosition() const { return state_.position; } - - /** - * @brief 获取当前速度 - */ - double getVelocity() const { return state_.velocity; } - - /** - * @brief 获取当前加速度 - */ - double getAcceleration() const { return state_.acceleration; } - - /** - * @brief 是否处于运动状态 - */ - bool isMoving() const { return state_.is_moving; } - - // ==================== 轨迹模式 ==================== - /** * @brief 计算点到点运动的完整 S 曲线剖面 * @param start_position 起始位置 @@ -217,6 +129,14 @@ public: * @return 时刻 t 的加速度 */ double getAccelerationAtTime(const SCurveProfile& profile, double t) const; + + /** + * @brief 给定剖面下，获取时刻 t 的加加速度 + * @param profile S 曲线剖面 + * @param t 从起点开始的时间 + * @return 时刻 t 的加加速度 + */ + double getJerkAtTime(const SCurveProfile& profile, double t) const; /** * @brief 按固定时间间隔生成轨迹点 @@ -232,71 +152,16 @@ public: std::vector& accelerations) const; private: - // 运动约束 double max_velocity_; double max_acceleration_; double max_jerk_; - - // 实时状态 - SCurveState state_; - - // 实时模式的位置跟踪增益 - double position_gain_; - - // 小量阈值 + static constexpr double EPSILON = 1e-9; static constexpr double VELOCITY_THRESHOLD = 1e-6; - static constexpr double POSITION_THRESHOLD = 1e-7; - - /** - * @brief 在最大减速度约束下，计算减速到 0 的时间 - */ - double calculateStoppingTime(double velocity, double acceleration) const; - - /** - * @brief 按 S 曲线减速剖面计算制动距离 - */ - double calculateStoppingDistance(double velocity, double acceleration) const; - - /** - * @brief 计算带加加速度限制的加速度更新 - */ - double computeJerkLimitedAcceleration(double current_acc, double desired_acc, double dt) const; - - /** - * @brief 判断所处的段并计算对应加加速度 - */ + double computeSegmentJerk(const SCurveProfile& profile, double t) const; - - /** - * @brief 计算短距离剖面（可能达不到最大速度） - */ void calculateShortProfile(SCurveProfile& profile) const; - - /** - * @brief 计算长距离剖面（可达到最大速度） - */ void calculateLongProfile(SCurveProfile& profile) const; - - /** - * @brief 将数值夹紧到指定范围 - */ - static double clamp(double value, double min_val, double max_val) - { - return std::max(min_val, std::min(max_val, value)); - } - - /** - * @brief 符号函数 - */ - static double sign(double value) - { - if (value > EPSILON) return 1.0; - if (value < -EPSILON) return -1.0; - return 0.0; - } }; -} // namespace - - +} // namespace cmvr diff --git a/cmvr-es/common/curve/src/s_curve.cpp b/cmvr-es/common/curve/src/s_curve.cpp index 0a89b8be..ae0bed89 100644 --- a/cmvr-es/common/curve/src/s_curve.cpp +++ b/cmvr-es/common/curve/src/s_curve.cpp @@ -15,15 +15,11 @@ namespace cmvr { - SCurve::SCurve(double max_velocity, double max_acceleration, double max_jerk) - : max_velocity_(max_velocity) - , max_acceleration_(max_acceleration) - , max_jerk_(max_jerk) - , position_gain_(10.0) // 位置跟踪增益 -{ - reset(); -} + : max_velocity_(std::abs(max_velocity)) + , max_acceleration_(std::abs(max_acceleration)) + , max_jerk_(std::abs(max_jerk)) +{} void SCurve::setConstraints(double max_velocity, double max_acceleration, double max_jerk) { @@ -39,201 +35,8 @@ void SCurve::getConstraints(double& max_velocity, double& max_acceleration, doub max_jerk = max_jerk_; } -void SCurve::initialize(double position, double velocity, double acceleration) -{ - state_.position = position; - state_.velocity = velocity; - state_.acceleration = acceleration; - state_.jerk = 0.0; - state_.target_position = position; - state_.is_moving = false; -} - -void SCurve::reset() -{ - state_ = SCurveState(); -} - -void SCurve::setTarget(double target_position) -{ - state_.target_position = target_position; -} - -double SCurve::update(double dt) -{ - if (dt <= 0.0 || dt > 0.1) { - return state_.position; - } - - // 计算位置误差 - double position_error = state_.target_position - state_.position; - - // 判断是否已足够接近目标 - if (std::abs(position_error) < POSITION_THRESHOLD && - std::abs(state_.velocity) < VELOCITY_THRESHOLD) { - state_.velocity = 0.0; - state_.acceleration = 0.0; - state_.jerk = 0.0; - state_.is_moving = false; - state_.position = state_.target_position; - return state_.position; - } - - state_.is_moving = true; - - // ==================== S 曲线实时算法 ==================== - // 通过加加速度限制实现实时 S 曲线控制 - - // Step 1：根据位置误差计算期望速度 - // 使用比例控制并施加速度上限 - double desired_velocity = position_gain_ * position_error; - desired_velocity = clamp(desired_velocity, -max_velocity_, max_velocity_); - - // Step 2：根据当前速度估算制动距离（考虑 S 曲线减速剖面） - double stopping_distance = calculateStoppingDistance(state_.velocity, state_.acceleration); - - // Step 3：判断是否需要开始减速 - double direction = sign(position_error); - double velocity_direction = sign(state_.velocity); - - // 如果正在远离目标，或距离不足以刹停，则需要减速 - bool need_decelerate = false; - if (velocity_direction != 0 && velocity_direction != direction) { - // 运动方向错误：必须减速 - need_decelerate = true; - } else if (std::abs(position_error) <= std::abs(stopping_distance) * 1.1) { - // 接近目标：提前开始减速（留 10% 裕量） - need_decelerate = true; - } - - // Step 4：计算期望加速度 - double desired_acceleration; - if (need_decelerate) { - // 减速：加速度方向应与速度相反 - if (std::abs(state_.velocity) < VELOCITY_THRESHOLD) { - desired_acceleration = 0.0; - } else { - desired_acceleration = -sign(state_.velocity) * max_acceleration_; - } - } else { - // 朝目标方向加速 - double velocity_error = desired_velocity - state_.velocity; - desired_acceleration = clamp(velocity_error / dt, -max_acceleration_, max_acceleration_); - } - - // Step 5：施加加加速度限制（S 曲线平滑性的关键） - double new_acceleration = computeJerkLimitedAcceleration( - state_.acceleration, desired_acceleration, dt); - - // Step 6：更新加加速度 - state_.jerk = (new_acceleration - state_.acceleration) / dt; - - // Step 7：更新加速度 - state_.acceleration = new_acceleration; - - // Step 8：在加速度限制下更新速度 - double new_velocity = state_.velocity + state_.acceleration * dt; - new_velocity = clamp(new_velocity, -max_velocity_, max_velocity_); - state_.velocity = new_velocity; - - // Step 9：更新位置 - // 使用梯形积分提高精度 - double avg_velocity = (state_.velocity + new_velocity) * 0.5; - state_.position += avg_velocity * dt; - - // Step 10：非常接近目标且速度很小则直接夹紧到目标 - if (std::abs(state_.target_position - state_.position) < POSITION_THRESHOLD * 10 && - std::abs(state_.velocity) < VELOCITY_THRESHOLD * 10) { - state_.position = state_.target_position; - } - - return state_.position; -} - -double SCurve::calculateStoppingTime(double velocity, double acceleration) const -{ - // 将加速度减到 0 所需时间 - double t_jerk = std::abs(acceleration) / max_jerk_; - - // 加加速度阶段的速度变化量 - double v_change_jerk = 0.5 * std::abs(acceleration) * t_jerk; - - // 加加速度阶段结束后的剩余速度 - double v_remaining = std::abs(velocity) - v_change_jerk; - - if (v_remaining <= 0) { - // 仅靠加加速度阶段即可停止 - return std::sqrt(2.0 * std::abs(velocity) / max_jerk_); - } - - // 需要进入匀减速阶段 - // 匀减速阶段持续时间 - double t_const = v_remaining / max_acceleration_; - - // 最后一个加加速度阶段：将加速度带回到 0 - double t_jerk_final = max_acceleration_ / max_jerk_; - - return t_jerk + t_const + t_jerk_final; -} - -double SCurve::calculateStoppingDistance(double velocity, double acceleration) const -{ - double v = std::abs(velocity); - double a = std::abs(acceleration); - - if (v < VELOCITY_THRESHOLD) { - return 0.0; - } - - // 简化版 S 曲线制动距离估算 - // 完整推导需要考虑 7 个阶段；实时控制中使用近似即可获得平滑减速效果 - - // 将加速度减到 0 的时间（加加速度阶段 1） - double t1 = a / max_jerk_; - double d1 = v * t1 + 0.5 * a * t1 * t1 - (1.0/6.0) * max_jerk_ * t1 * t1 * t1; - double v1 = v + a * t1 - 0.5 * max_jerk_ * t1 * t1; - - if (v1 <= 0) { - // 在第一段加加速度阶段内停止 - return std::abs(d1); - } - - // 匀减速阶段 - double t2 = (v1 - max_acceleration_ * max_acceleration_ / (2.0 * max_jerk_)) / max_acceleration_; - if (t2 < 0) t2 = 0; - double d2 = v1 * t2 - 0.5 * max_acceleration_ * t2 * t2; - double v2 = v1 - max_acceleration_ * t2; - - // 最后一个加加速度阶段 - double t3 = max_acceleration_ / max_jerk_; - double d3 = v2 * t3 - 0.5 * max_acceleration_ * t3 * t3 + (1.0/6.0) * max_jerk_ * t3 * t3 * t3; - - double total_distance = d1 + d2 + d3; - - // 增加安全裕量 - return std::abs(total_distance) * 1.2; -} - -double SCurve::computeJerkLimitedAcceleration(double current_acc, double desired_acc, double dt) const -{ - double acc_change = desired_acc - current_acc; - double max_acc_change = max_jerk_ * dt; - - // 按加加速度上限夹紧加速度变化量 - acc_change = clamp(acc_change, -max_acc_change, max_acc_change); - - double new_acc = current_acc + acc_change; - - // 同时夹紧加速度本身 - new_acc = clamp(new_acc, -max_acceleration_, max_acceleration_); - - return new_acc; -} - -// ==================== 轨迹模式实现 ==================== - SCurveProfile SCurve::calculateProfile(double start_position, double end_position, - double start_velocity, double end_velocity [[maybe_unused]]) + double start_velocity, double end_velocity) { SCurveProfile profile; profile.j_max = max_jerk_; @@ -242,6 +45,7 @@ SCurveProfile SCurve::calculateProfile(double start_position, double end_positio profile.p0 = start_position; profile.v0 = start_velocity; profile.a0 = 0.0; // Assume starting from zero acceleration + profile.vf = end_velocity; double displacement = end_position - start_position; profile.distance = std::abs(displacement); @@ -252,33 +56,129 @@ SCurveProfile SCurve::calculateProfile(double start_position, double end_positio profile.total_time = 0.0; return profile; } - - // 达到最大加速度所需时间（加加速度阶段） - double t_j = profile.a_max / profile.j_max; - - // 单个加加速度阶段获得的速度增量 - double v_j = 0.5 * profile.j_max * t_j * t_j; - - // 加速阶段（含两个加加速度段）的位移 - // 假设能够达到最大加速度 - double d_acc = v_j * t_j + profile.a_max * t_j * t_j + v_j; - - // 判断是否能达到最大速度 - double v_acc = 2 * v_j; // Velocity gained during full acceleration phase - - if (v_acc >= profile.v_max) { - // 达不到最大加速度：三角形剖面 - calculateShortProfile(profile); - } else { - // 判断是否能在半程之前达到最大速度 - double d_to_vmax = d_acc + (profile.v_max - v_acc) * (profile.v_max - v_acc) / (2.0 * profile.a_max); - - if (2.0 * d_to_vmax > profile.distance) { - // 达不到最大速度：梯形加速度剖面 - calculateShortProfile(profile); + + const double start_speed = profile.direction * start_velocity; + const double end_speed = profile.direction * end_velocity; + if (start_speed < -VELOCITY_THRESHOLD || end_speed < -VELOCITY_THRESHOLD) { + profile.total_time = 0.0; + return profile; + } + + if (std::abs(start_speed) > VELOCITY_THRESHOLD || + std::abs(end_speed) > VELOCITY_THRESHOLD) { + auto calc_transition = [&](double v_from, double v_to, + double& t_j, double& t_a, + double& duration, double& distance) { + t_j = 0.0; + t_a = 0.0; + duration = 0.0; + distance = 0.0; + + const double dv = std::abs(v_to - v_from); + if (dv <= 1e-12 || profile.a_max <= 1e-12 || profile.j_max <= 1e-12) { + return; + } + + const double dv_switch = profile.a_max * profile.a_max / profile.j_max; + if (dv < dv_switch) { + t_j = std::sqrt(dv / profile.j_max); + t_a = 0.0; + } else { + t_j = profile.a_max / profile.j_max; + t_a = dv / profile.a_max - t_j; + } + + duration = 2.0 * t_j + t_a; + distance = 0.5 * (v_from + v_to) * duration; + }; + + const double v_cap = std::max({profile.v_max, start_speed, end_speed}); + const double v_peak_min = std::max(start_speed, end_speed); + + double acc_tj = 0.0, acc_ta = 0.0, acc_duration = 0.0, acc_distance = 0.0; + double dec_tj = 0.0, dec_ta = 0.0, dec_duration = 0.0, dec_distance = 0.0; + calc_transition(start_speed, v_peak_min, + acc_tj, acc_ta, acc_duration, acc_distance); + calc_transition(v_peak_min, end_speed, + dec_tj, dec_ta, dec_duration, dec_distance); + const double d_min = acc_distance + dec_distance; + if (profile.distance + EPSILON < d_min) { + profile.total_time = 0.0; + return profile; + } + + calc_transition(start_speed, v_cap, + acc_tj, acc_ta, acc_duration, acc_distance); + calc_transition(v_cap, end_speed, + dec_tj, dec_ta, dec_duration, dec_distance); + const double d_cap = acc_distance + dec_distance; + + double v_peak = v_cap; + double t4 = 0.0; + + if (profile.distance > d_cap + EPSILON) { + t4 = (profile.distance - d_cap) / std::max(v_peak, EPSILON); } else { - // 可达到最大速度：完整 S 曲线 + double lo = v_peak_min; + double hi = v_cap; + for (int iter = 0; iter < 80; ++iter) { + const double mid = 0.5 * (lo + hi); + double mid_acc_tj = 0.0, mid_acc_ta = 0.0, mid_acc_duration = 0.0, mid_acc_distance = 0.0; + double mid_dec_tj = 0.0, mid_dec_ta = 0.0, mid_dec_duration = 0.0, mid_dec_distance = 0.0; + calc_transition(start_speed, mid, + mid_acc_tj, mid_acc_ta, mid_acc_duration, mid_acc_distance); + calc_transition(mid, end_speed, + mid_dec_tj, mid_dec_ta, mid_dec_duration, mid_dec_distance); + const double d_mid = mid_acc_distance + mid_dec_distance; + if (d_mid < profile.distance) { + lo = mid; + } else { + hi = mid; + } + } + v_peak = hi; + calc_transition(start_speed, v_peak, + acc_tj, acc_ta, acc_duration, acc_distance); + calc_transition(v_peak, end_speed, + dec_tj, dec_ta, dec_duration, dec_distance); + } + + profile.t1 = acc_tj; + profile.t2 = acc_ta; + profile.t3 = acc_tj; + profile.t4 = t4; + profile.t5 = dec_tj; + profile.t6 = dec_ta; + profile.t7 = dec_tj; + profile.v_cruise = v_peak; + profile.a_limit = std::max(profile.j_max * profile.t1, profile.j_max * profile.t5); + profile.total_time = profile.t1 + profile.t2 + profile.t3 + profile.t4 + + profile.t5 + profile.t6 + profile.t7; + return profile; + } + + const double j = profile.j_max; + const double a = profile.a_max; + const double v = profile.v_max; + const double t_j_a = a / j; + + if (v < a * t_j_a) { + const double t_j_v = std::sqrt(v / j); + const double s_min = 2.0 * j * t_j_v * t_j_v * t_j_v; + if (profile.distance > s_min + EPSILON) { calculateLongProfile(profile); + } else { + calculateShortProfile(profile); + } + } else { + const double t_a_v = v / a - t_j_a; + const double s_half_v = + a * (t_j_a * t_j_a + 1.5 * t_j_a * t_a_v + 0.5 * t_a_v * t_a_v); + const double s_min = 2.0 * s_half_v; + if (profile.distance > s_min + EPSILON) { + calculateLongProfile(profile); + } else { + calculateShortProfile(profile); } } @@ -287,24 +187,16 @@ SCurveProfile SCurve::calculateProfile(double start_position, double end_positio void SCurve::calculateShortProfile(SCurveProfile& profile) const { - // 短距离情况下，可能达不到最大速度，甚至达不到最大加速度 - // 使用对称剖面：t1=t3=t5=t7，t2=t6，t4=0 - - double j = profile.j_max; - double a = profile.a_max; - // double v = profile.v_max; // 短剖面不会达到最大速度，因此不使用 - double d = profile.distance; - - // 达到最大加速度所需时间 - double t_j = a / j; - - // 判断是否能达到最大加速度 - // 纯加加速度剖面（t1=t3，无匀加速）的位移 - double d_jerk_only = j * t_j * t_j * t_j / 3.0; - - if (d < 2.0 * d_jerk_only) { - // 极短距离：纯加加速度剖面 - double t1 = std::cbrt(d * 1.5 / j); + // 短距离：无巡航段（t4 = 0），与 moveL_SCurveLocal 中的 SCurveProfile1D 保持一致。 + const double j = profile.j_max; + const double a = profile.a_max; + const double v = profile.v_max; + const double d = profile.distance; + const double t_j_a = a / j; + + if (v < a * t_j_a) { + // 达不到 a_max：极短距离时只有 4 个 jerk 段。 + const double t1 = std::cbrt(d / (2.0 * j)); profile.t1 = t1; profile.t2 = 0.0; profile.t3 = t1; @@ -312,45 +204,35 @@ void SCurve::calculateShortProfile(SCurveProfile& profile) const profile.t5 = t1; profile.t6 = 0.0; profile.t7 = t1; - profile.v_cruise = j * t1 * t1; // 峰值速度 - profile.a_limit = j * t1; // 峰值加速度 + profile.v_cruise = j * t1 * t1; + profile.a_limit = j * t1; } else { - // 需要匀加速阶段 - // 在位移约束下求解 t1 与 t2 - // d = 2 * (v_j * t_j + 0.5 * a * t_j^2 + a * t_a * t_j + 0.5 * a * t_a^2) - - profile.t1 = t_j; - profile.t3 = t_j; - profile.t5 = t_j; - profile.t7 = t_j; - - // t1 结束时速度 - double v1 = 0.5 * j * t_j * t_j; - - // 4 个加加速度段覆盖的位移 - double d_jerk = 4.0 * (v1 * t_j / 2.0 + j * t_j * t_j * t_j / 6.0); - - // 匀加速/匀减速阶段的剩余位移 - double d_const = d - d_jerk; - - // 求解 t2（匀加速时间） - // 使用一元二次方程 - double A = a; - double B = 2.0 * v1 + a * t_j; - double C = -d_const / 2.0; - - double discriminant = B * B - 4.0 * A * C; - if (discriminant < 0) discriminant = 0; - - double t2 = (-B + std::sqrt(discriminant)) / (2.0 * A); - if (t2 < 0) t2 = 0; - - profile.t2 = t2; - profile.t6 = t2; - profile.t4 = 0.0; // No cruise phase - - profile.v_cruise = v1 + a * (t_j + t2); - profile.a_limit = a; + // 能达到 a_max，但达不到 v_max：求无巡航的匀加速持续时间。 + const double D = t_j_a * t_j_a + 4.0 * (d / a); + double t2 = (-3.0 * t_j_a + std::sqrt(std::max(0.0, D))) * 0.5; + + if (t2 < 0.0) { + const double t1 = std::cbrt(d / (2.0 * j)); + profile.t1 = t1; + profile.t2 = 0.0; + profile.t3 = t1; + profile.t4 = 0.0; + profile.t5 = t1; + profile.t6 = 0.0; + profile.t7 = t1; + profile.v_cruise = j * t1 * t1; + profile.a_limit = j * t1; + } else { + profile.t1 = t_j_a; + profile.t2 = t2; + profile.t3 = t_j_a; + profile.t4 = 0.0; + profile.t5 = t_j_a; + profile.t6 = t2; + profile.t7 = t_j_a; + profile.v_cruise = a * (t2 + t_j_a); + profile.a_limit = a; + } } profile.total_time = profile.t1 + profile.t2 + profile.t3 + profile.t4 + @@ -359,46 +241,43 @@ void SCurve::calculateShortProfile(SCurveProfile& profile) const void SCurve::calculateLongProfile(SCurveProfile& profile) const { - // 含巡航段的完整 7 段式 S 曲线 - double j = profile.j_max; - double a = profile.a_max; - double v = profile.v_max; - double d = profile.distance; - - // 加加速度段持续时间 - double t_j = a / j; - - // 加速阶段加加速度段获得的速度增量 - double v_j = 0.5 * j * t_j * t_j; - - // 匀加速达到最大速度所需时间 - double t_a = (v - 2.0 * v_j) / a; - if (t_a < 0) t_a = 0; - - profile.t1 = t_j; - profile.t2 = t_a; - profile.t3 = t_j; - profile.t5 = t_j; - profile.t6 = t_a; - profile.t7 = t_j; - - // 加速阶段（t1+t2+t3）覆盖的位移 - double d_acc = v_j * t_j + 0.5 * a * t_j * t_j + // t1 - (v_j + 0.5 * a * t_j) * t_a + 0.5 * a * t_a * t_a + // t2 - (v_j + a * t_j + a * t_a) * t_j + 0.5 * a * t_j * t_j - j * t_j * t_j * t_j / 6.0; // t3 - - // 减速阶段对称 - double d_dec = d_acc; - - // 巡航段位移 - double d_cruise = d - d_acc - d_dec; - if (d_cruise < 0) d_cruise = 0; - - // 巡航段时间 - profile.t4 = d_cruise / v; - - profile.v_cruise = v; - profile.a_limit = a; + // 含巡航段的完整 7 段式 S 曲线；与 SCurveProfile1D 的 full-profile 公式一致。 + const double j = profile.j_max; + const double a = profile.a_max; + const double v = profile.v_max; + const double d = profile.distance; + const double t_j_a = a / j; + + if (v < a * t_j_a) { + // 达不到 a_max，但可以达到 v_max 并进入巡航。 + const double t_j_v = std::sqrt(v / j); + const double s_min = 2.0 * j * t_j_v * t_j_v * t_j_v; + profile.t1 = t_j_v; + profile.t2 = 0.0; + profile.t3 = t_j_v; + profile.t4 = std::max(0.0, (d - s_min) / v); + profile.t5 = t_j_v; + profile.t6 = 0.0; + profile.t7 = t_j_v; + profile.v_cruise = v; + profile.a_limit = j * t_j_v; + } else { + // 能达到 a_max 和 v_max。 + const double t_a = v / a - t_j_a; + const double s_half = + a * (t_j_a * t_j_a + 1.5 * t_j_a * t_a + 0.5 * t_a * t_a); + const double s_min = 2.0 * s_half; + + profile.t1 = t_j_a; + profile.t2 = t_a; + profile.t3 = t_j_a; + profile.t4 = std::max(0.0, (d - s_min) / v); + profile.t5 = t_j_a; + profile.t6 = t_a; + profile.t7 = t_j_a; + profile.v_cruise = v; + profile.a_limit = a; + } profile.total_time = profile.t1 + profile.t2 + profile.t3 + profile.t4 + profile.t5 + profile.t6 + profile.t7; @@ -509,7 +388,7 @@ double SCurve::getPositionAtTime(const SCurveProfile& profile, double t) const double SCurve::getVelocityAtTime(const SCurveProfile& profile, double t) const { if (t <= 0) return profile.v0; - if (t >= profile.total_time) return 0.0; // 假设末端静止 + if (t >= profile.total_time) return profile.vf; double j = profile.j_max * profile.direction; double v = profile.v0; @@ -616,6 +495,14 @@ double SCurve::getAccelerationAtTime(const SCurveProfile& profile, double t) con return a + j * (t - t_end6); } +double SCurve::getJerkAtTime(const SCurveProfile& profile, double t) const +{ + if (t <= 0.0 || t >= profile.total_time) { + return 0.0; + } + return computeSegmentJerk(profile, t); +} + void SCurve::generateTrajectory(const SCurveProfile& profile, double dt, std::vector& positions, std::vector& velocities, @@ -647,9 +534,9 @@ void SCurve::generateTrajectory(const SCurveProfile& profile, double dt, if (positions.empty() || std::abs(positions.back() - (profile.p0 + profile.distance * profile.direction)) > EPSILON) { positions.push_back(profile.p0 + profile.distance * profile.direction); - velocities.push_back(0.0); + velocities.push_back(profile.vf); accelerations.push_back(0.0); } } -} // namespace el_a3_hardware +} diff --git a/cmvr-es/common/utils/math/qp_solver.h b/cmvr-es/common/math/include/qp_solver.h similarity index 100% rename from cmvr-es/common/utils/math/qp_solver.h rename to cmvr-es/common/math/include/qp_solver.h diff --git a/cmvr-es/common/utils/math/support_functions.h b/cmvr-es/common/math/include/support_functions.h similarity index 100% rename from cmvr-es/common/utils/math/support_functions.h rename to cmvr-es/common/math/include/support_functions.h diff --git a/cmvr-es/common/utils/visualization/image_display_test.cpp b/cmvr-es/common/utils/visualization/image_display_test.cpp deleted file mode 100644 index 78319116..00000000 --- a/cmvr-es/common/utils/visualization/image_display_test.cpp +++ /dev/null @@ -1,373 +0,0 @@ -#include "common/utils/visualization/image_display.h" -#include "common/utils/image/image_process.h" -#include "devices/camera/realsense_camera/include/realsense_camera.h" -#include "perception/include/tag_relative_target_3d.h" - -#include - -#include -#include -#include -#include - -namespace { - -cv::Mat makeBlankImage(int width = 160, int height = 120) { - return cv::Mat(height, width, CV_8UC3, cv::Scalar(0, 0, 0)); -} - -constexpr const char* kRsSerial = "243122074587"; -constexpr double kTagSizeM = 0.01975; -constexpr int kRsWidth = 1280; -constexpr int kRsHeight = 720; -constexpr int kRsFps = 30; -constexpr int kTargetU = -1; // negative means image center -constexpr int kTargetV = -1; // negative means image center -constexpr int kDisplayFrames = 1200; -constexpr const char* kTrackingWindowName = "ImageDisplayTagTrackingTest"; - -int countNonZeroPixelsInRoi(const cv::Mat& image, const cv::Rect& roi) { - const cv::Rect image_rect(0, 0, image.cols, image.rows); - const cv::Rect clipped = roi & image_rect; - if (clipped.width <= 0 || clipped.height <= 0) { - return 0; - } - - cv::Mat gray; - cv::cvtColor(image(clipped), gray, cv::COLOR_BGR2GRAY); - return cv::countNonZero(gray); -} - -bool projectTargetToPixel(const Eigen::Vector3d& p_c, - const cmvr::device::Rs2Intrinsics& intrinsics, - cmvr::common::Pixel& pixel_out) { - Eigen::Vector2d uv = Eigen::Vector2d::Zero(); - if (!cmvr::ImageProcess::projectCameraPointToPixel(intrinsics, p_c, uv)) { - return false; - } - - pixel_out.u = static_cast(std::lround(uv.x())); - pixel_out.v = static_cast(std::lround(uv.y())); - return true; -} - -} // namespace - -TEST(OpenCvImageCvDisplayTest, RenderFailsWithoutImage) { - cmvr::common::OpenCvImageCvDisplay display; - - cv::Mat rendered; - EXPECT_FALSE(display.render(rendered)); -} - -TEST(OpenCvImageCvDisplayTest, RenderPointChangesCenterRegion) { - cmvr::common::OpenCvImageCvDisplay display; - display.setImage(makeBlankImage()); - display.showPoint(cmvr::common::Pixel{60, 40}, - cmvr::common::Color::red(), - 5, - -1, - "target"); - - cv::Mat rendered; - ASSERT_TRUE(display.render(rendered)); - ASSERT_FALSE(rendered.empty()); - - const cv::Vec3b center = rendered.at(40, 60); - EXPECT_GT(static_cast(center[2]), 150); - EXPECT_LT(static_cast(center[1]), 80); - EXPECT_LT(static_cast(center[0]), 80); -} - -TEST(OpenCvImageCvDisplayTest, RenderCircleChangesExpectedArcRegion) { - cmvr::common::OpenCvImageCvDisplay display; - display.setImage(makeBlankImage()); - display.showCircle(cmvr::common::Pixel{60, 40}, - 12, - cmvr::common::Color::yellow(), - 2); - - cv::Mat rendered; - ASSERT_TRUE(display.render(rendered)); - ASSERT_FALSE(rendered.empty()); - - EXPECT_GT(countNonZeroPixelsInRoi(rendered, cv::Rect(58, 26, 5, 5)), 0); - EXPECT_EQ(countNonZeroPixelsInRoi(rendered, cv::Rect(59, 39, 3, 3)), 0); -} - -TEST(OpenCvImageCvDisplayTest, RenderCrossChangesHorizontalAndVerticalArms) { - cmvr::common::OpenCvImageCvDisplay display; - display.setImage(makeBlankImage()); - display.showCross(cmvr::common::Pixel{60, 40}, - 10, - cmvr::common::Color::blue(), - 2); - - cv::Mat rendered; - ASSERT_TRUE(display.render(rendered)); - ASSERT_FALSE(rendered.empty()); - - EXPECT_GT(countNonZeroPixelsInRoi(rendered, cv::Rect(49, 39, 5, 3)), 0); - EXPECT_GT(countNonZeroPixelsInRoi(rendered, cv::Rect(59, 29, 3, 5)), 0); -} - -TEST(OpenCvImageCvDisplayTest, RenderTextChangesRequestedRegion) { - cmvr::common::OpenCvImageCvDisplay display; - display.setImage(makeBlankImage()); - - cmvr::common::TextOverlay overlay; - overlay.text = "tracked tag: 7"; - overlay.position_px = cmvr::common::Pixel{10, 30}; - overlay.color = cmvr::common::Color::white(); - overlay.draw_background = true; - - display.showText(overlay); - - cv::Mat rendered; - ASSERT_TRUE(display.render(rendered)); - ASSERT_FALSE(rendered.empty()); - - EXPECT_GT(countNonZeroPixelsInRoi(rendered, cv::Rect(5, 5, 120, 35)), 0); -} - -TEST(OpenCvImageCvDisplayTest, ClearOverlaysRemovesAllRenderedGeometry) { - cmvr::common::OpenCvImageCvDisplay display; - display.setImage(makeBlankImage()); - display.showPoint(cmvr::common::Pixel{60, 40}, - cmvr::common::Color::red(), - 5, - -1, - "target"); - display.showCircle(cmvr::common::Pixel{60, 40}, - 12, - cmvr::common::Color::yellow(), - 2); - display.showCross(cmvr::common::Pixel{60, 40}, - 10, - cmvr::common::Color::blue(), - 2); - display.showText("tracked tag: 7", - cmvr::common::Pixel{10, 30}, - cmvr::common::Color::white(), - 0.7, - 2); - - display.clearOverlays(); - - cv::Mat rendered; - ASSERT_TRUE(display.render(rendered)); - ASSERT_FALSE(rendered.empty()); - EXPECT_EQ(countNonZeroPixelsInRoi(rendered, cv::Rect(0, 0, rendered.cols, rendered.rows)), 0); -} - -TEST(OpenCvImageCvDisplayTest, ShowDisplaysWindowIfHighGuiIsAvailable) { - constexpr const char* kWindowName = "OpenCvImageCvDisplayTest"; - cmvr::common::OpenCvImageCvDisplay display(kWindowName); - - bool window_enabled = true; - try { - cv::namedWindow(kWindowName, cv::WINDOW_NORMAL); - cv::imshow(kWindowName, cv::Mat(120, 160, CV_8UC3, cv::Scalar(20, 20, 20))); - cv::waitKey(1); - } catch (const cv::Exception& e) { - window_enabled = false; - std::cout << "[OpenCvImageCvDisplayTest] window disabled: " << e.what() << "\n"; - } - - if (!window_enabled) { - GTEST_SKIP() << "OpenCV highgui is not available, skip windowed test."; - } - - for (int frame = 0; frame < 1200; ++frame) { - cv::Mat image(240, 320, CV_8UC3, cv::Scalar(20, 20, 20)); - display.setImage(image); - display.clearOverlays(); - - const int center_u = 80 + frame; - const int center_v = 120; - - display.showPoint(cmvr::common::Pixel{center_u, center_v}, - cmvr::common::Color::red(), - 5, - -1, - "target"); - display.showCircle(cmvr::common::Pixel{center_u, center_v}, - 18, - cmvr::common::Color::yellow(), - 2); - display.showCross(cmvr::common::Pixel{center_u, center_v}, - 10, - cmvr::common::Color::blue(), - 2); - display.showText("tracked tag: 7", - cmvr::common::Pixel{20, 30}, - cmvr::common::Color::white(), - 0.8, - 2); - - const int key = display.show(30); - if (key == 27 || key == 'q' || key == 'Q') { - break; - } - } - - display.close(); -} - -TEST(OpenCvImageCvDisplayTest, ShowTrackingImageWithActiveTagAndTargetPoint) { - const std::string serial = kRsSerial; - if (serial.empty()) { - GTEST_SKIP() << "kRsSerial is empty, please set it in image_display_test.cpp"; - } - - cmvr::config::RealSenseCameraConfig cam_cfg; - cam_cfg.set_id("image_display_test"); - cam_cfg.set_serialnumber(serial); - cam_cfg.set_width(kRsWidth); - cam_cfg.set_height(kRsHeight); - cam_cfg.set_fps(kRsFps); - cam_cfg.set_codec("H265"); - cam_cfg.set_camera_mode(cmvr::config::CAMERA_MODE_PHOTO); - cam_cfg.set_stream_mode(cmvr::config::STREAM_MODE_RGBD); - cam_cfg.set_align_mode(cmvr::config::ALIGN_MODE_COLOR); - cam_cfg.set_buffer_size(30); - cam_cfg.set_sync(true); - cam_cfg.set_enable(true); - - auto camera = std::make_shared(cam_cfg); - auto perception = std::make_shared(camera); - perception->setTagSize(kTagSizeM); - - cmvr::perception::TagRelativeTarget3D tracker(perception); - tracker.setTargetPointMethod(cmvr::perception::TagRelativeTarget3D::TargetPointMethod::TAG_PLANE); - tracker.setActiveTagSwitchPolicy(4, 1.2); - tracker.setTrackingCandidateScoreWeights(1.0, 2.0, 0.08); - - cmvr::perception::AprilTagPerception::Options opt; - opt.depth_policy = cmvr::perception::AprilTagPerception::DepthPolicy::NONE; - opt.detect_tags = true; - - ASSERT_NO_THROW(camera->init()); - ASSERT_NO_THROW(camera->start()); - struct CameraStopGuard { - std::shared_ptr cam; - ~CameraStopGuard() { - if (!cam) return; - try { - cam->stop(); - } catch (...) { - } - } - } stop_guard{camera}; - - cmvr::common::OpenCvImageCvDisplay display(kTrackingWindowName); - bool window_enabled = true; - try { - cv::namedWindow(kTrackingWindowName, cv::WINDOW_NORMAL); - cv::resizeWindow(kTrackingWindowName, kRsWidth, kRsHeight); - cv::imshow(kTrackingWindowName, - cv::Mat(kRsHeight, kRsWidth, CV_8UC3, cv::Scalar(20, 20, 20))); - cv::waitKey(1); - } catch (const cv::Exception& e) { - window_enabled = false; - std::cout << "[OpenCvImageCvDisplayTest] window disabled: " << e.what() << "\n"; - } - if (!window_enabled) { - GTEST_SKIP() << "OpenCV highgui is not available, skip windowed test."; - } - - bool target_uv_initialized = false; - int target_u = kTargetU; - int target_v = kTargetV; - bool target_locked = false; - - for (int frame = 0; frame < kDisplayFrames; ++frame) { - const bool update_ok = perception->update(opt); - const cv::Mat& color = perception->color(); - - cv::Mat display_image = color.empty() - ? cv::Mat(kRsHeight, kRsWidth, CV_8UC3, cv::Scalar(20, 20, 20)) - : color; - display.setImage(display_image); - display.clearOverlays(); - - if (!target_uv_initialized && !display_image.empty()) { - target_u = (kTargetU >= 0) ? kTargetU : (display_image.cols / 2); - target_v = (kTargetV >= 0) ? kTargetV : (display_image.rows / 2); - target_uv_initialized = true; - } - - if (target_uv_initialized) { - const cmvr::common::Pixel selected_px{target_u, target_v}; - display.showCross(selected_px, 10, cmvr::common::Color::yellow(), 2); - display.showCircle(selected_px, 14, cmvr::common::Color::yellow(), 2); - } - - bool tracker_ok = false; - if (target_uv_initialized && !color.empty()) { - if (!target_locked) { - tracker_ok = tracker.startTrackingFromPixel(target_u, target_v); - target_locked = tracker_ok; - } else { - tracker_ok = tracker.track(); - } - } - - if (tracker_ok) { - cmvr::common::Pixel target_px{}; - if (projectTargetToPixel(tracker.lastTargetInCamera(), perception->intrinsics(), target_px)) { - display.showPoint(target_px, - cmvr::common::Color::red(), - 5, - -1, - "target"); - display.showCircle(target_px, 18, cmvr::common::Color::red(), 2); - } - } - - display.showText("active tag: " + std::to_string(tracker.activeTagId()), - cmvr::common::Pixel{20, 30}, - cmvr::common::Color::white(), - 0.8, - 2); - display.showText("perception: " + - std::string(cmvr::perception::AprilTagPerception::statusToString( - perception->lastStatus())), - cmvr::common::Pixel{20, 60}, - cmvr::common::Color::white(), - 0.7, - 2); - display.showText("tracker: " + - std::string(cmvr::perception::TagRelativeTarget3D::statusToString( - tracker.lastStatus())), - cmvr::common::Pixel{20, 90}, - cmvr::common::Color::white(), - 0.7, - 2); - display.showText("tags: " + std::to_string(perception->tags().size()) + - " frame_ok: " + std::string(update_ok ? "true" : "false"), - cmvr::common::Pixel{20, 120}, - cmvr::common::Color::white(), - 0.7, - 2); - - if (tracker_ok) { - const Eigen::Vector3d& p_c_target = tracker.lastTargetInCamera(); - display.showText("target_c: [" + - std::to_string(p_c_target.x()) + ", " + - std::to_string(p_c_target.y()) + ", " + - std::to_string(p_c_target.z()) + "]", - cmvr::common::Pixel{20, 150}, - cmvr::common::Color::white(), - 0.6, - 2); - } - - const int key = display.show(1); - if (key == 27 || key == 'q' || key == 'Q') { - break; - } - } - - display.close(); -} diff --git a/cmvr-es/controller/src/ibvs_controller.cpp b/cmvr-es/controller/src/ibvs_controller.cpp index 91979e99..31b31d2c 100644 --- a/cmvr-es/controller/src/ibvs_controller.cpp +++ b/cmvr-es/controller/src/ibvs_controller.cpp @@ -1,7 +1,7 @@ #include "controller/include/ibvs_controller.h" #include "common/utils/image/image_process.h" -#include "common/utils/math/support_functions.h" +#include "common/math/include/support_functions.h" #include #include diff --git a/cmvr-es/devices/robot/humanoid_robot/src/humanoid_robot.cpp b/cmvr-es/devices/robot/humanoid_robot/src/humanoid_robot.cpp index e745d671..08e4631a 100644 --- a/cmvr-es/devices/robot/humanoid_robot/src/humanoid_robot.cpp +++ b/cmvr-es/devices/robot/humanoid_robot/src/humanoid_robot.cpp @@ -7,7 +7,7 @@ #include "motor/ti5_motor/ti5_motor.h" #include "../../../../utils/base/include/abstract_interpolation.h" #include "data_center/include/motors_info.h" -#include "common/utils/math/support_functions.h" +#include "common/math/include/support_functions.h" using namespace std; using namespace cmvr::device; diff --git a/cmvr-es/ik_solver/CMakeLists.txt b/cmvr-es/ik_solver/CMakeLists.txt index 8aceeb72..14c85883 100644 --- a/cmvr-es/ik_solver/CMakeLists.txt +++ b/cmvr-es/ik_solver/CMakeLists.txt @@ -20,6 +20,7 @@ target_link_libraries(ik_solver PUBLIC pinocchio_default pinocchio_parsers pinocchio_collision + cmvr_es::planner cmvr_es::common ) @@ -46,6 +47,7 @@ target_link_libraries(srs_ik_test gtest_main pthread glog + matplot ) diff --git a/cmvr-es/ik_solver/include/joints_limit_analyzer.h b/cmvr-es/ik_solver/include/joints_limit_analyzer.h index 7f4d379c..090003cc 100644 --- a/cmvr-es/ik_solver/include/joints_limit_analyzer.h +++ b/cmvr-es/ik_solver/include/joints_limit_analyzer.h @@ -7,7 +7,7 @@ #include #include -#include "common/utils/math/support_functions.h" +#include "common/math/include/support_functions.h" namespace cmvr { class JointsLimitAnalyzer { diff --git a/cmvr-es/ik_solver/include/opt_psi_selector.h b/cmvr-es/ik_solver/include/opt_psi_selector.h index d462b300..4df61654 100644 --- a/cmvr-es/ik_solver/include/opt_psi_selector.h +++ b/cmvr-es/ik_solver/include/opt_psi_selector.h @@ -7,7 +7,7 @@ #include #include -#include "common/utils/math/support_functions.h" +#include "common/math/include/support_functions.h" namespace cmvr { class OptPsiSelector { diff --git a/cmvr-es/ik_solver/include/pinocchio_dls_ik_solver.h b/cmvr-es/ik_solver/include/pinocchio_dls_ik_solver.h index a93ffea8..70800170 100644 --- a/cmvr-es/ik_solver/include/pinocchio_dls_ik_solver.h +++ b/cmvr-es/ik_solver/include/pinocchio_dls_ik_solver.h @@ -1,14 +1,16 @@ -// Created by lgv on 11/28/25. #pragma once #include "ik_solver/include/pinocchio_ik_base.h" + #include #include #include #include #include +#include "cartesian_space_planner/include/cartesian_twist_limiter.h" + namespace cmvr { /** @@ -16,26 +18,35 @@ namespace cmvr { * * 提供以下能力： * - 位姿 IK（`ik`） - * - 正运动学 FK（`fk`） + * - 正运动学 FK（`fk`，继承自基类） * - 末端 twist 到关节速度的微分 IK（`ik` 重载） * - 直线 MoveL（S 曲线标量规划 + 局部系微分 IK） + * - speedL（基于 CartesianTwistLimiter + DLS 微分 IK） * * 求解链路由 URDF 中 `base_frame_name -> flange_frame_name` 自动提取， * 并支持可选 TCP frame。 */ class PinocchioDlsIKSolver : public PinocchioIKBase { public: - /** - * @brief 构造 `PinocchioDlsIKSolver`。 - * @param urdf_path URDF 文件路径。 - * @param base_frame_name 机械臂基座 frame 名称。 - * @param flange_frame_name 机械臂法兰 frame 名称。 - * @param tcp_frame_name TCP frame 名称；为空表示不使用 TCP。 - * @param max_iters IK 最大迭代次数。 - * @param pos_eps 平移收敛阈值（m）。 - * @param rot_eps 旋转收敛阈值（rad）。 - * @param damping DLS 阻尼系数，建议默认值大于 `1e-6` 以提升稳定性。 - */ + struct SpeedLConfig { + double linear_velocity_max{0.25}; + double linear_acceleration_max{0.8}; + double linear_jerk_max{4.0}; + + double angular_velocity_max{1.0}; + double angular_acceleration_max{3.0}; + double angular_jerk_max{15.0}; + + std::vector joint_velocity_max; ///< size=chain_v_dof_，为空则仅用 URDF limit + std::vector joint_acceleration_max; ///< size=chain_v_dof_，为空则不做 joint accel 限制 + + double linear_target_replan_threshold{1e-4}; + double angular_target_replan_threshold{1e-4}; + + double linear_reverse_cos_threshold{-0.8660254037844386}; // cos(150deg) + double linear_reverse_switch_speed_threshold{1e-3}; + }; + PinocchioDlsIKSolver(const std::string &urdf_path, const std::string &base_frame_name, const std::string &flange_frame_name, @@ -43,85 +54,32 @@ public: int max_iters = 100, double pos_eps = 1e-6, double rot_eps = 1e-6, - double damping = 1e-4); // 建议默认比 1e-6 大点更稳 + double damping = 1e-4); ~PinocchioDlsIKSolver() override = default; - /** - * @brief 初始化求解器（加载 URDF、提取链路、缓存限位与基座位姿）。 - * @return 成功返回 `true`，失败返回 `false`。 - */ bool init() override; - /** - * @brief 位姿 IK 求解。 - * @param target_pose base 坐标系下目标位姿。 - * @param joints_angle 输出关节角（链空间）。 - * @param is_tcp 为 `true` 时以 TCP 为末端，否则以 flange 为末端。 - * @return 成功返回 `true`，失败返回 `false`。 - */ bool ik(const Eigen::Matrix4d &target_pose, std::vector &joints_angle, bool is_tcp = true) override; - /** - * @brief 位姿 IK 求解（显式指定 base_link 与 ee_link）。 - * - * 约束：`base_link` 与 `ee_link` 必须位于初始化单一链（base->tip） - * 对应分支内，且 `base_link` 需是 `ee_link` 的祖先（或同一 link）。 - * - * @param base_link 基座 frame 名称（目标位姿参考系）。 - * @param ee_link 末端 frame 名称。 - * @param target_pose `ee_link` 在 `base_link` 下的目标位姿。 - * @param joints_angle 输出关节角（链空间）。 - * @return 成功返回 `true`，失败返回 `false`。 - */ bool ik(const std::string& base_link, const std::string& ee_link, const Eigen::Matrix4d& target_pose, std::vector& joints_angle); - /** - * @brief 生成 MoveL 关节轨迹（局部系微分 IK + S 曲线标量规划）。 - * - * 该接口仅跟踪平移直线，姿态保持起点姿态。 - * - * @param target_pose_base base 坐标系下目标位姿（平移有效，姿态仅用于接口一致性）。 - * @param q_start 起始关节角（链空间）。 - * @param q_traj 输出关节轨迹序列。 - * @param t_traj 输出时间戳序列（秒）。 - * @param dt 控制周期（秒）。 - * @param v_tcp_max TCP 线速度上限（m/s）。 - * @param a_tcp_max TCP 线加速度上限（m/s^2）。 - * @param j_tcp_max TCP 线加加速度上限（m/s^3）。 - * @param qd_max 关节速度上限（rad/s），长度应等于 `chain_dof_`。 - * @param is_tcp 为 `true` 时以 TCP 为末端，否则以 flange 为末端。 - * @return 成功返回 `true`，失败返回 `false`。 - */ bool moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_base, const std::vector& q_start, std::vector>& q_traj, std::vector& t_traj, double dt, - double v_tcp_max, // m/s - double a_tcp_max, // m/s^2 - double j_tcp_max, // m/s^3 - const std::vector& qd_max, // rad/s, size=chain_dof + double v_tcp_max, + double a_tcp_max, + double j_tcp_max, + const std::vector& qd_max, bool is_tcp = true); - /** - * @brief 用 DLS 微分逆解将末端局部坐标系 twist 映射为关节速度。 - * - * 当前关节状态取自内部 `cur_joints_angle_`（调用前需先 `update_joints_state`）。 - * - * @param base_link 基坐标系 frame 名称。 - * @param ee_link 末端 frame 名称。 - * @param target_vel 末端期望速度 [vx vy vz wx wy wz]^T，单位 m/s 与 rad/s，坐标系为 `ee_link` 局部系。 - * @param joints_vel 输出的关节速度，size=chain_v_dof_，单位 rad/s。 - * @param damping DLS 阻尼系数，<=0 时使用成员 damping_。 - * @param qdot_abs_max 关节速度绝对值限幅；同时会叠加 URDF velocityLimit。 - * @return 成功返回 `true`，失败返回 `false`。 - */ bool ik(const std::string& base_link, const std::string& ee_link, const Eigen::Matrix& target_vel, @@ -129,118 +87,192 @@ public: double damping = -1.0, double qdot_abs_max = std::numeric_limits::infinity()); - /** - * @brief 配置关节限位避障 null-space 项。 - * - * @param enable 是否启用。 - * @param gain 避障增益（rad/s 量纲）。 - * @param margin_ratio 在上下限附近触发的边界带占总行程比例 (0, 0.5)。 - * @param max_push 每关节最大推回速度（rad/s），<=0 表示不额外限幅。 - */ void setJointLimitAvoidance(bool enable, double gain = 0.2, double margin_ratio = 0.15, double max_push = 0.25); - /** - * @brief 设置 IK 最大迭代次数。 - * @param iters 最大迭代次数。 - */ void setMaxIters(int iters) { max_iters_ = iters; } - /** - * @brief 设置 DLS 阻尼系数。 - * @param d 阻尼系数。 - */ void setDamping(double d) { damping_ = d; } - /** - * @brief 设置 IK 收敛阈值。 - * @param pos_eps 平移阈值（m）。 - * @param rot_eps 旋转阈值（rad）。 - */ void setEps(double pos_eps, double rot_eps) { pos_eps_ = pos_eps; rot_eps_ = rot_eps; } -private: - /** - * @brief 计算阻尼伪逆。 - * @param J 输入雅可比矩阵。 - * @param lambda 阻尼系数。 - * @return 阻尼伪逆矩阵。 - */ - Eigen::MatrixXd dampedPseudoInverse(const Eigen::MatrixXd &J, double lambda); + // ==================== speedL ==================== /** - * @brief 将链关节向量组装为 full-model `q`。 - * @param q_chain 输入链关节向量。 - * @param q_full 输出 full-model 关节向量。 - * @param context 调用上下文（用于日志）。 - * @return 组装成功返回 `true`。 + * @brief 配置 speedL task-space / joint-space 限幅参数。 + * + * 调用后会重置 speedL 内部运行态，但保留本次配置。 */ + bool configureSpeedL(const SpeedLConfig& config); + + /** + * @brief 重置 speedL 运行状态（不清除配置）。 + */ + void resetSpeedL(); + + /** + * @brief speedL 单步（推荐：真机/仿真闭环版本） + * + * 输入为测得关节状态与目标末端 twist，输出关节速度命令。 + * 使用注意： + * 1) 这是 speedL 的首选接口，真机和 MuJoCo 闭环都应优先使用这个版本。 + * 2) q_measured / qdot_measured 必须与本次控制周期对齐；如果时间戳漂移，task-space limiter + * 的 synchronize 会基于错误状态工作。 + * 3) 返回的 qdot_cmd 仍然是 solver 侧命令值，不等于驱动器最终实际执行速度。 + * + * 流程： + * 1) 用 q_measured / qdot_measured 计算当前 measured twist(base) + * 2) 同步到 CartesianTwistLimiter + * 3) task-space 限幅得到 command twist(base) + * 4) 用 DLS 微分 IK 解出 qdot + * 5) 做 joint velocity / joint acceleration 限幅 + * 6) 回算 executed twist(base) + * + * @param target_twist 目标末端 twist（Base 或 Tool 系） + * @param dt 控制周期 + * @param q_measured 当前测得关节位置，size=chain_dof_ + * @param qdot_measured 当前测得关节速度，size=chain_v_dof_ + * @param qdot_cmd 输出关节速度命令，size=chain_v_dof_ + * @param input_frame target_twist 的输入坐标系 + * @param is_tcp true: TCP；false: flange + */ + bool speedLStep(const Eigen::Matrix& target_twist, + double dt, + const std::vector& q_measured, + const std::vector& qdot_measured, + std::vector& qdot_cmd, + CartesianFrame input_frame = CartesianFrame::Tool, + bool is_tcp = true); + + /** + * @brief speedL 单步（半闭环版本：有 q，无 qd） + * + * 使用测得 q_measured 更新当前姿态， + * 并用上一拍命令速度作为 qdot_measured 的近似反馈。 + * + * 使用注意： + * 1) 只有在能拿到真实 q、但暂时拿不到真实 qd 时再用这个版本。 + * 2) 这里的 qdot_measured 是 speedl_prev_qdot_cmd_ 的近似值；下游存在饱和、延迟或丢包时， + * 这个近似会偏乐观。 + * 3) 一旦能拿到真实 qdot，应切回带 q_measured/qdot_measured 的闭环版本。 + */ + bool speedLStep(const Eigen::Matrix& target_twist, + double dt, + const std::vector& q_measured, + std::vector& qdot_cmd, + CartesianFrame input_frame = CartesianFrame::Tool, + bool is_tcp = true); + + /** + * @brief speedL 单步（开环退化版本：无 q，无 qd） + * + * 使用内部 cur_joints_angle_ 与上一拍命令速度作为近似反馈， + * 并在每拍后用本次 qdot_cmd 做一次内部姿态推进。 + * + * 使用注意： + * 1) 只有在当前周期既拿不到真实 q、也拿不到真实 qd 时，才应使用这个版本。 + * 2) 该版本依赖内部预测状态，会随时间累计漂移；不适合长时间连续运行。 + * 3) 仅当 chain_dof_ == chain_v_dof_ 时才允许使用，因为内部使用简单的 q += qdot * dt + * 欧拉推进。 + * 4) 一旦恢复真实 q 或 qd，请立即切回上面两个 overload。 + */ + bool speedLStep(const Eigen::Matrix& target_twist, + double dt, + std::vector& qdot_cmd, + CartesianFrame input_frame = CartesianFrame::Tool, + bool is_tcp = true); + + const Eigen::Matrix& getSpeedLMeasuredTwistBase() const { + return speedl_twist_measured_base_; + } + + const Eigen::Matrix& getSpeedLCommandTwistBase() const { + return speedl_twist_command_base_; + } + + const Eigen::Matrix& getSpeedLExecutedTwistBase() const { + return speedl_twist_executed_base_; + } + + const std::vector& getSpeedLPrevQdotCmd() const { + return speedl_prev_qdot_cmd_; + } + + bool isSpeedLConfigured() const { return speedl_configured_; } + +private: + Eigen::MatrixXd dampedPseudoInverse(const Eigen::MatrixXd &J, double lambda); + bool buildFullQFromChain(const Eigen::VectorXd& q_chain, Eigen::VectorXd& q_full, const char* context) const; - /** - * @brief 从 full Jacobian 中提取当前链对应列。 - * @param J_full full-model Jacobian。 - * @return 链空间 Jacobian。 - */ + Eigen::MatrixXd extractChainJacobian(const Eigen::Matrix& J_full) const; - /** - * @brief 获取 base 在 world 下位姿（固定基座时优先使用缓存）。 - * @return base 在 world 下的位姿。 - */ + const pinocchio::SE3& getBasePoseWorld() const; - /** - * @brief 计算关节限位避障的二级速度项（未投影）。 - * @param q_chain 当前链关节位置。 - * @return 二级目标速度向量。 - */ + Eigen::VectorXd computeJointLimitAvoidanceVelocity(const Eigen::VectorXd& q_chain) const; - /** - * @brief 将二级目标速度投影到任务零空间。 - * @param J_pinv 任务雅可比伪逆。 - * @param J 任务雅可比。 - * @param secondary 二级目标速度。 - * @return 零空间投影结果 `N * secondary`，其中 `N = I - J_pinv * J`。 - */ + Eigen::VectorXd projectToNullspace(const Eigen::MatrixXd& J_pinv, const Eigen::MatrixXd& J, const Eigen::VectorXd& secondary) const; + // ==================== speedL helpers ==================== + bool resolveSpeedLEeFrame(bool is_tcp, pinocchio::FrameIndex& ee_id) const; + + bool buildJacobianBaseAtQ(const std::vector& q_chain, + pinocchio::FrameIndex ee_id, + Eigen::MatrixXd& J_base, + Eigen::Matrix3d& base_R_ee, + Eigen::VectorXd* q_full_out = nullptr); + + bool computeMeasuredTwistBase(const std::vector& q_chain, + const std::vector& qdot_chain, + pinocchio::FrameIndex ee_id, + Eigen::Matrix& twist_base, + Eigen::MatrixXd* J_base_out = nullptr, + Eigen::Matrix3d* base_R_ee_out = nullptr, + Eigen::VectorXd* q_full_out = nullptr); + + Eigen::VectorXd applyJointVelocityLimits(const Eigen::VectorXd& qdot_des) const; + + Eigen::VectorXd applyJointAccelerationLimits(const Eigen::VectorXd& qdot_des, + const Eigen::VectorXd& qdot_reference, + double dt) const; + private: - /** @brief 当前链在 full-model `q` 中的起始索引。 */ int chain_q_start_{0}; - /** @brief 当前链关节位置自由度数量。 */ int chain_dof_{0}; - /** @brief 当前链在 full-model `v` 中的起始索引。 */ int chain_v_start_{0}; - /** @brief 当前链关节速度自由度数量。 */ int chain_v_dof_{0}; - /** @brief 是否启用 null-space 关节限位避障。 */ bool limit_avoidance_enabled_{false}; - /** @brief 限位避障增益。 */ double limit_avoidance_gain_{0.2}; - /** @brief 限位触发边界比例（占关节行程比例）。 */ double limit_avoidance_margin_ratio_{0.15}; - /** @brief 每关节最大推回速度（rad/s），<=0 表示不额外限幅。 */ double limit_avoidance_max_push_{0.25}; - /** @brief 是否启用基座位姿缓存。 */ bool base_pose_cached_{false}; - /** @brief 缓存的 base 在 world 下位姿。 */ pinocchio::SE3 oM_base_cached_; - /** @brief 求解器是否已完成初始化。 */ bool initialized_{false}; - /** @brief IK 最大迭代次数。 */ int max_iters_; - /** @brief IK 平移收敛阈值（m）。 */ double pos_eps_; - /** @brief IK 旋转收敛阈值（rad）。 */ double rot_eps_; - /** @brief DLS 阻尼系数。 */ double damping_; + + // ==================== speedL state ==================== + bool speedl_configured_{false}; + bool speedl_last_is_tcp_{true}; + + SpeedLConfig speedl_config_; + CartesianTwistLimiter speedl_twist_limiter_; + + std::vector speedl_prev_qdot_cmd_; ///< size=chain_v_dof_ + + Eigen::Matrix speedl_twist_measured_base_{Eigen::Matrix::Zero()}; + Eigen::Matrix speedl_twist_command_base_{Eigen::Matrix::Zero()}; + Eigen::Matrix speedl_twist_executed_base_{Eigen::Matrix::Zero()}; }; } // namespace cmvr diff --git a/cmvr-es/ik_solver/include/pinocchio_qp_ik_solver.h b/cmvr-es/ik_solver/include/pinocchio_qp_ik_solver.h index e783c0c4..ef1f5b2d 100644 --- a/cmvr-es/ik_solver/include/pinocchio_qp_ik_solver.h +++ b/cmvr-es/ik_solver/include/pinocchio_qp_ik_solver.h @@ -8,7 +8,7 @@ #pragma once #include "ik_solver/include/pinocchio_ik_base.h" -#include "common/utils/math/qp_solver.h" +#include "common/math/include/qp_solver.h" #include #include diff --git a/cmvr-es/ik_solver/src/bias_srs_ik_slover.cpp b/cmvr-es/ik_solver/src/bias_srs_ik_slover.cpp index e5460fea..40a40fd2 100644 --- a/cmvr-es/ik_solver/src/bias_srs_ik_slover.cpp +++ b/cmvr-es/ik_solver/src/bias_srs_ik_slover.cpp @@ -4,7 +4,7 @@ #include "ik_solver/include/bias_srs_ik_slover.h" #include -#include "common/utils/math/support_functions.h" +#include "common/math/include/support_functions.h" #include "common/consts/constant.h" using namespace cmvr; using namespace Eigen; diff --git a/cmvr-es/ik_solver/src/lawba_ik_solver.cpp b/cmvr-es/ik_solver/src/lawba_ik_solver.cpp index 31d9d8cb..83b2f37d 100644 --- a/cmvr-es/ik_solver/src/lawba_ik_solver.cpp +++ b/cmvr-es/ik_solver/src/lawba_ik_solver.cpp @@ -3,7 +3,7 @@ // #include "ik_solver/include/lawba_ik_solver.h" -#include "common/utils/math/support_functions.h" +#include "common/math/include/support_functions.h" using namespace cmvr; diff --git a/cmvr-es/ik_solver/src/pinocchio_dls_ik_solver.cpp b/cmvr-es/ik_solver/src/pinocchio_dls_ik_solver.cpp index 589d1f75..8503333c 100644 --- a/cmvr-es/ik_solver/src/pinocchio_dls_ik_solver.cpp +++ b/cmvr-es/ik_solver/src/pinocchio_dls_ik_solver.cpp @@ -2,6 +2,7 @@ #include "ik_solver/include/pinocchio_dls_ik_solver.h" #include "ik_solver/include/urdf_parser.h" +#include "common/curve/include/s_curve.h" #include #include @@ -21,6 +22,19 @@ static inline double clampd(double x, double lo, double hi) { return std::max(lo, std::min(hi, x)); } +static inline double clamp01(double x) { + return std::max(0.0, std::min(1.0, x)); +} + +namespace { + +static inline double smoothstep01(double x) { + x = clamp01(x); + return x * x * (3.0 - 2.0 * x); +} + +} // namespace + Eigen::MatrixXd PinocchioDlsIKSolver::dampedPseudoInverse(const Eigen::MatrixXd &J, double lambda) { const int m = J.rows(); const int n = J.cols(); @@ -54,8 +68,8 @@ PinocchioDlsIKSolver::PinocchioDlsIKSolver(const std::string &urdf_path, } bool PinocchioDlsIKSolver::buildFullQFromChain(const Eigen::VectorXd& q_chain, - Eigen::VectorXd& q_full, - const char* context) const { + Eigen::VectorXd& q_full, + const char* context) const { if (q_chain.size() != chain_dof_) { if (context != nullptr) { std::cerr << "[PinocchioDlsIKSolver] " << context << " chain q size mismatch\n"; @@ -100,10 +114,10 @@ Eigen::VectorXd PinocchioDlsIKSolver::computeJointLimitAvoidanceVelocity( double push = 0.0; if (q_chain[i] < lo + margin) { - const double s = (lo + margin - q_chain[i]) / margin; // 0..1+ + const double s = (lo + margin - q_chain[i]) / margin; push += limit_avoidance_gain_ * s * s; } else if (q_chain[i] > hi - margin) { - const double s = (q_chain[i] - (hi - margin)) / margin; // 0..1+ + const double s = (q_chain[i] - (hi - margin)) / margin; push -= limit_avoidance_gain_ * s * s; } @@ -139,9 +153,6 @@ bool PinocchioDlsIKSolver::init() { chain_v_start_ = chain_info.v_start; chain_v_dof_ = chain_info.v_dof; - // limits already cached in IKSolver base class. - - // cache base pose (PELVIS_S fixed) { Eigen::VectorXd q0 = pinocchio::neutral(model_); updateKinematics(q0); @@ -149,7 +160,6 @@ bool PinocchioDlsIKSolver::init() { base_pose_cached_ = true; } - // init current joints cur_joints_angle_.assign(chain_dof_, 0.0); initialized_ = true; @@ -282,9 +292,9 @@ bool PinocchioDlsIKSolver::ik(const std::string& base_link, } void PinocchioDlsIKSolver::setJointLimitAvoidance(bool enable, - double gain, - double margin_ratio, - double max_push) { + double gain, + double margin_ratio, + double max_push) { limit_avoidance_enabled_ = enable; limit_avoidance_gain_ = std::max(0.0, gain); limit_avoidance_margin_ratio_ = std::clamp(margin_ratio, 1e-3, 0.49); @@ -298,7 +308,6 @@ bool PinocchioDlsIKSolver::ik(const std::string& base_link, double damping, double qdot_abs_max) { - // 1) 基本状态与输入合法性检查。 if (!initialized_) return false; if (!model_.existFrame(base_link)) { std::cerr << "[PinocchioDlsIKSolver] base frame not found: " << base_link << "\n"; @@ -352,38 +361,36 @@ bool PinocchioDlsIKSolver::ik(const std::string& base_link, return false; } - // 2) 组装整机 q（内部当前状态）。 + const Eigen::Map q_chain(cur_joints_angle_.data(), chain_dof_); + Eigen::VectorXd q_full; - if (!buildFullQFromInput(cur_joints_angle_, q_full, "ik(velocity)")) { + if (!buildFullQFromChain(q_chain, q_full, "ik(velocity)")) { return false; } - // 3) 在当前关节角下更新位姿。 updateKinematics(q_full); const pinocchio::SE3 &oM_base = (base_id == base_frame_id_) ? getBasePoseWorld() : data_->oMf[base_id]; const pinocchio::SE3 &oM_ee = data_->oMf[ee_id]; - // 4) ee 局部系 twist -> base 系 twist。 const pinocchio::SE3 base_M_ee = oM_base.inverse() * oM_ee; - const Eigen::Matrix3d R_be = base_M_ee.rotation(); // ee -> base + const Eigen::Matrix3d R_be = base_M_ee.rotation(); + Eigen::Matrix twist_base; twist_base.head<3>() = R_be * target_vel.head<3>(); twist_base.tail<3>() = R_be * target_vel.tail<3>(); - // 5) 计算 Jacobian，并从 world 表达转到 base 表达。 Eigen::Matrix J_world(6, model_.nv); pinocchio::computeFrameJacobian(model_, *data_, q_full, ee_id, pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED, J_world); Eigen::MatrixXd J = extractChainJacobian(J_world); - const Eigen::Matrix3d R_bo = oM_base.rotation().transpose(); // world -> base + const Eigen::Matrix3d R_bo = oM_base.rotation().transpose(); J.topRows(3) = R_bo * J.topRows(3); J.bottomRows(3) = R_bo * J.bottomRows(3); - // 6) DLS 逆解：qdot = J^T (J J^T + lambda^2 I)^-1 * twist_base。 const double lambda = (damping > 0.0) ? damping : damping_; Eigen::Matrix A = J * J.transpose(); A.diagonal().array() += (lambda * lambda); @@ -394,241 +401,44 @@ bool PinocchioDlsIKSolver::ik(const std::string& base_link, } Eigen::VectorXd qdot = J.transpose() * ldlt.solve(twist_base); - // 6.1) null-space 关节限位避障：在主任务零空间叠加“离限位推回”速度。 - const Eigen::VectorXd q_chain = q_full.segment(chain_q_start_, chain_dof_); const Eigen::VectorXd qdot_avoid = computeJointLimitAvoidanceVelocity(q_chain); if (qdot_avoid.size() == chain_v_dof_ && qdot_avoid.squaredNorm() > 1e-16) { const Eigen::Matrix A_inv = ldlt.solve(Eigen::Matrix::Identity()); - const Eigen::MatrixXd J_pinv = J.transpose() * A_inv; // n x 6 + const Eigen::MatrixXd J_pinv = J.transpose() * A_inv; qdot += projectToNullspace(J_pinv, J, qdot_avoid); } - // 7) 关节速度限幅：取调用者限幅与 URDF velocityLimit 的更严格值。 - joints_vel.resize(chain_v_dof_); + double gamma = 1.0; for (int i = 0; i < chain_v_dof_; ++i) { - double vel_limit = qdot_abs_max; + double vel_limit = std::numeric_limits::infinity(); + if (std::isfinite(qdot_abs_max) && qdot_abs_max > 0.0) { + vel_limit = std::min(vel_limit, qdot_abs_max); + } if (joint_vel_limits_.size() == chain_v_dof_) { - vel_limit = std::min(vel_limit, std::abs(joint_vel_limits_[i])); + const double urdf_limit = std::abs(joint_vel_limits_[i]); + if (std::isfinite(urdf_limit) && urdf_limit > 0.0) { + vel_limit = std::min(vel_limit, urdf_limit); + } } - double qi = qdot[i]; - if (std::isfinite(vel_limit) && vel_limit > 0.0) { - qi = clampd(qi, -vel_limit, vel_limit); + const double qi_abs = std::abs(qdot[i]); + if (std::isfinite(vel_limit) && vel_limit > 0.0 && qi_abs > vel_limit) { + gamma = std::min(gamma, vel_limit / qi_abs); } - joints_vel[i] = qi; + } + + joints_vel.resize(chain_v_dof_); + const Eigen::VectorXd qdot_limited = gamma * qdot; + for (int i = 0; i < chain_v_dof_; ++i) { + joints_vel[i] = qdot_limited[i]; } return true; } -// ===== 小工具 ===== -static inline double clamp01(double x) { return std::max(0.0, std::min(1.0, x)); } - // ============================================================================ -// S-curve profile (7 segments), with EXACT per-segment integration sampling -// - compute(): your original -// - jerk_at(): your original -// - sample(tau): new; returns s, sd, sdd exactly under the piecewise-constant jerk -// ============================================================================ -namespace { - -struct SCurveProfile1D { - double L{0.0}; - double v_max{0.0}; - double a_max{0.0}; - double j_max{0.0}; - - double t_j{0.0}; // jerk phase duration - double t_a{0.0}; // constant accel duration - double t_v{0.0}; // cruise duration - double T{0.0}; // total duration - - double v_peak{0.0}; - double a_peak{0.0}; - - bool valid{false}; - - static double cbrt_pos(double x) { return std::cbrt(std::max(0.0, x)); } - - static double half_dist_a_reached(double a, double t_j, double t_a) { - return a * (t_j*t_j + 1.5*t_j*t_a + 0.5*t_a*t_a); - } - - void compute(double L_, double v_max_, double a_max_, double j_max_) { - L = std::max(0.0, L_); - v_max = std::max(0.0, v_max_); - a_max = std::max(0.0, a_max_); - j_max = std::max(0.0, j_max_); - - valid = false; - t_j = t_a = t_v = T = 0.0; - v_peak = a_peak = 0.0; - - if (L <= 1e-12) { valid = true; return; } - if (v_max <= 1e-12 || a_max <= 1e-12 || j_max <= 1e-12) return; - - const double j = j_max; - const double t_j_a = a_max / j; - - // Case X：达不到 a_max - if (v_max < a_max * t_j_a) { - const double t_j_v = std::sqrt(v_max / j); - const double s_half_v = j * std::pow(t_j_v, 3); - const double s_min = 2.0 * s_half_v; - - if (L > s_min + 1e-12) { - t_j = t_j_v; - t_a = 0.0; - t_v = (L - s_min) / v_max; - v_peak = v_max; - a_peak = j * t_j; - T = 4.0*t_j + t_v; - valid = true; - return; - } else { - t_a = 0.0; - t_v = 0.0; - t_j = cbrt_pos(L / (2.0*j)); - v_peak = j * t_j * t_j; - a_peak = j * t_j; - T = 4.0*t_j; - valid = true; - return; - } - } - - // Case Y：能达到 a_max - const double t_a_v = v_max / a_max - t_j_a; - const double s_half_v = half_dist_a_reached(a_max, t_j_a, t_a_v); - const double s_min = 2.0 * s_half_v; - - if (L > s_min + 1e-12) { - t_j = t_j_a; - t_a = t_a_v; - t_v = (L - s_min) / v_max; - v_peak = v_max; - a_peak = a_max; - T = 4.0*t_j + 2.0*t_a + t_v; - valid = true; - return; - } else { - const double tj = t_j_a; - const double D = tj*tj + 4.0 * (L / a_max); - double t_a_sol = (-3.0*tj + std::sqrt(std::max(0.0, D))) * 0.5; - - if (t_a_sol < 0.0) { - t_a = 0.0; - t_v = 0.0; - t_j = cbrt_pos(L / (2.0*j)); - v_peak = j * t_j * t_j; - a_peak = j * t_j; - T = 4.0*t_j; - valid = true; - return; - } - - t_j = tj; - t_a = t_a_sol; - t_v = 0.0; - v_peak = a_max * (t_a + t_j); - a_peak = a_max; - T = 4.0*t_j + 2.0*t_a; - valid = true; - return; - } - } - - // 7 段 jerk 指令： [+j, 0, -j, 0, -j, 0, +j] - double jerk_at(double t) const { - const double j = j_max; - const double d1 = t_j; - const double d2 = t_a; - const double d3 = t_j; - const double d4 = t_v; - const double d5 = t_j; - const double d6 = t_a; - const double d7 = t_j; - - if (t < 0.0) return 0.0; - if (t < d1) return +j; - t -= d1; - if (t < d2) return 0.0; - t -= d2; - if (t < d3) return -j; - t -= d3; - if (t < d4) return 0.0; - t -= d4; - if (t < d5) return -j; - t -= d5; - if (t < d6) return 0.0; - t -= d6; - if (t < d7) return +j; - return 0.0; - } - - // ===== 新增：解析采样（按段常 jerk 精确积分）===== - void sample(double tau, double& s, double& sd, double& sdd, double& j_out) const { - if (!valid) { s=sd=sdd=j_out=0.0; return; } - - tau = std::min(std::max(0.0, tau), T); - - auto advance = [&](double dt, double jerk, - double& s, double& v, double& a) { - // constant jerk exact integration - s += v*dt + 0.5*a*dt*dt + (1.0/6.0)*jerk*dt*dt*dt; - v += a*dt + 0.5*jerk*dt*dt; - a += jerk*dt; - }; - - // segments - const double segT[7] = {t_j, t_a, t_j, t_v, t_j, t_a, t_j}; - const double segJ[7] = {+j_max, 0.0, -j_max, 0.0, -j_max, 0.0, +j_max}; - - double s_acc = 0.0; - double v_acc = 0.0; - double a_acc = 0.0; - - double rem = tau; - int k_last = 0; - for (int k = 0; k < 7; ++k) { - const double dt = std::min(rem, segT[k]); - if (dt > 0.0) { - advance(dt, segJ[k], s_acc, v_acc, a_acc); - k_last = k; - } - rem -= dt; - if (rem <= 1e-15) { k_last = k; break; } - } - - s = std::min(std::max(0.0, s_acc), L); - sd = v_acc; - sdd = a_acc; - - // current jerk - j_out = jerk_at(tau); - - // force perfect stop at end - if (tau >= T - 1e-12) { sd = 0.0; sdd = 0.0; j_out = 0.0; } - if (tau <= 1e-12) { /* sd already ~0 */ } - } -}; - -static inline double smoothstep01(double x) { - x = clamp01(x); - return x*x*(3.0 - 2.0*x); -} - -} // namespace - -// ============================================================================ -// MoveL with tau time-scaling (anti-wobble + correct stop): -// - tau: profile time (S-curve runs fully => sd->0) -// - t : real time (control dt) -// - gamma_tot scales BOTH dq and tau-step (time scaling) -// - gamma_lim keeps q_next inside limits (avoid clamp chattering) -// - posture/feedback fades out near end (avoid nullspace leakage stop wiggle) -// - add final hold sample => diff-speed == 0 +// MoveL with tau time-scaling // ============================================================================ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_base, const std::vector& q_start, @@ -650,7 +460,6 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ const pinocchio::FrameIndex ee_id = (is_tcp && has_tcp_) ? tcp_frame_id_ : flange_frame_id_; - // start FK (base) Eigen::Matrix4d T0_base; if (!fk(q_start, T0_base, is_tcp)) return false; @@ -665,111 +474,91 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ std::cerr << "dp(base)= " << dp.transpose() << "\n"; - // profile - SCurveProfile1D prof; - prof.compute(L, v_tcp_max, a_tcp_max, j_tcp_max); - if (!prof.valid) { + SCurve curve(v_tcp_max, a_tcp_max, j_tcp_max); + const SCurveProfile prof = curve.calculateProfile(0.0, L); + if (prof.total_time <= 0.0) { std::cerr << "[moveL_SCurveLocal] invalid profile\n"; return false; } - // ---------------- tuning ---------------- - const double Kp_perp0 = 1.0; // 1/s - const double Kp_rot0 = 1.0; // 1/s - const double k_posture0 = 1.0; // 1/s + const double Kp_perp0 = 1.0; + const double Kp_rot0 = 1.0; + const double k_posture0 = 1.0; const double eps_dq = 1e-9; - // speed limits Eigen::VectorXd qd_lim(chain_dof_); for (int i = 0; i < chain_dof_; ++i) qd_lim[i] = std::max(1e-6, std::abs(qd_max[i])); - // posture reference Eigen::VectorXd q_ref = Eigen::Map(q_start.data(), chain_dof_); - - // state Eigen::VectorXd q_chain = Eigen::Map(q_start.data(), chain_dof_); - double t = 0.0; // real time - double tau = 0.0; // profile time + double t = 0.0; + double tau = 0.0; - // output q_traj.clear(); t_traj.clear(); - q_traj.reserve((size_t)(prof.T / dt_real) + 10); - t_traj.reserve((size_t)(prof.T / dt_real) + 10); + q_traj.reserve((size_t)(prof.total_time / dt_real) + 10); + t_traj.reserve((size_t)(prof.total_time / dt_real) + 10); q_traj.push_back(q_start); t_traj.push_back(0.0); - // logs A/B/C const double log_period = 0.05; double next_log_t = 0.0; const double sigma_min_th = 1e-4; const double cond_th = 1e4; - // gamma smoothing (optional but helps remove kinks) double gamma_prev = 1.0; - const double gamma_tau = 0.03; // 30ms low-pass + const double gamma_tau = 0.03; - // stuck detection int stuck_cnt = 0; - while (tau < prof.T - 1e-12) { + while (tau < prof.total_time - 1e-12) { const double step_real = dt_real; - // ===== sample profile at tau (exact) ===== - double s=0.0, sd=0.0, sdd=0.0, j_now=0.0; - prof.sample(tau, s, sd, sdd, j_now); + const double s = curve.getPositionAtTime(prof, tau); + const double sd = curve.getVelocityAtTime(prof, tau); - // ===== end-fade (avoid nullspace leakage at stop) ===== - const double w_end = smoothstep01(sd / std::max(1e-6, 0.15 * prof.v_peak)); + const double w_end = smoothstep01(sd / std::max(1e-6, 0.15 * prof.v_cruise)); const double Kp_perp = Kp_perp0 * w_end; const double Kp_rot = Kp_rot0 * w_end; const double k_posture = k_posture0 * w_end; - // desired pose in base const Eigen::Vector3d p_des_base = p0 + dir_base * s; Eigen::Matrix4d T_des_base = Eigen::Matrix4d::Identity(); T_des_base.block<3,3>(0,0) = R_fixed; T_des_base.block<3,1>(0,3) = p_des_base; - // build q_full Eigen::VectorXd q_full; if (!buildFullQFromChain(q_chain, q_full, "moveL_SCurveLocal")) { return false; } updateKinematics(q_full); - const pinocchio::SE3& oM_base = getBasePoseWorld(); // world<-base + const pinocchio::SE3& oM_base = getBasePoseWorld(); const Eigen::Matrix3d R_ob = oM_base.rotation(); const pinocchio::SE3 &oM_cur = data_->oMf[ee_id]; const pinocchio::SE3 oM_des = oM_base * matrix4ToSE3(T_des_base); - // current position in base pinocchio::SE3 base_M_cur = oM_base.inverse() * oM_cur; const Eigen::Vector3d p_cur_base = base_M_cur.translation(); - // perpendicular error only const Eigen::Vector3d e_base = p_des_base - p_cur_base; const Eigen::Vector3d e_perp = e_base - dir_base * (dir_base.dot(e_base)); - // rotation error (LOCAL) pinocchio::SE3 dM = oM_cur.inverse() * oM_des; Eigen::Matrix err6 = pinocchio::log6(dM).toVector(); - // Jacobian (LOCAL) Eigen::Matrix J_full(6, model_.nv); pinocchio::computeFrameJacobian(model_, *data_, q_full, ee_id, pinocchio::ReferenceFrame::LOCAL, J_full); - // !!! use v_start/v_dof (more correct) Eigen::MatrixXd J = extractChainJacobian(J_full); Eigen::MatrixXd J_pinv = dampedPseudoInverse(J, damping_); - // C) singular monitor double sigma_min = 0.0, sigma_max = 0.0, cond = 0.0; { Eigen::JacobiSVD svd(J, Eigen::ComputeThinU | Eigen::ComputeThinV); @@ -779,29 +568,23 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ cond = (sigma_min > 1e-12) ? (sigma_max / sigma_min) : 1e12; } - // feedforward linear vel along line (ds/dtau = sd) - const Eigen::Vector3d v_base_ff = dir_base * sd; // base - const Eigen::Vector3d v_world_ff = R_ob * v_base_ff; // world + const Eigen::Vector3d v_base_ff = dir_base * sd; + const Eigen::Vector3d v_world_ff = R_ob * v_base_ff; const Eigen::Vector3d v_local_ff = oM_cur.rotation().transpose() * v_world_ff; - // perpendicular feedback vel const Eigen::Vector3d v_base_fb = Kp_perp * e_perp; const Eigen::Vector3d v_world_fb = R_ob * v_base_fb; const Eigen::Vector3d v_local_fb = oM_cur.rotation().transpose() * v_world_fb; - // desired LOCAL twist Eigen::Matrix xi = Eigen::Matrix::Zero(); xi.head<3>() = v_local_ff + v_local_fb; xi.tail<3>() = Kp_rot * err6.tail<3>(); - // task dq const Eigen::VectorXd dq_task = J_pinv * xi; - // nullspace posture const Eigen::VectorXd dq_posture = -k_posture * (q_chain - q_ref); const Eigen::VectorXd dq_raw = dq_task + projectToNullspace(J_pinv, J, dq_posture); - // ---------------- gamma_speed (joint speed) ---------------- double gamma_speed = 1.0; for (int i = 0; i < chain_dof_; ++i) { const double denom = std::max(eps_dq, std::abs(dq_raw[i])); @@ -809,7 +592,6 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ } gamma_speed = clamp01(gamma_speed); - // ---------------- gamma_lim (keep q_next within limits) ---------------- double gamma_lim = 1.0; for (int i = 0; i < chain_dof_; ++i) { const double dqi = dq_raw[i]; @@ -819,7 +601,7 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ const double margin = joint_pos_upper_limits_[i] - q_chain[i]; const double g = margin / (dqi * step_real); gamma_lim = std::min(gamma_lim, g); - } else { // dqi < 0 + } else { const double margin = q_chain[i] - joint_pos_lower_limits_[i]; const double g = margin / ((-dqi) * step_real); gamma_lim = std::min(gamma_lim, g); @@ -827,10 +609,8 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ } gamma_lim = clamp01(gamma_lim); - // total gamma double gamma_target = std::min(gamma_speed, gamma_lim); - // optional gamma smoothing to remove kinks const double alpha = step_real / (gamma_tau + step_real); const double gamma_tot = gamma_prev + alpha * (gamma_target - gamma_prev); gamma_prev = gamma_tot; @@ -841,18 +621,12 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ return false; } - // apply dq (real time) q_chain += (gamma_tot * dq_raw) * step_real; - - // (理论上 gamma_lim 已保证不越界，这里只是数值保险) q_chain = q_chain.cwiseMax(joint_pos_lower_limits_).cwiseMin(joint_pos_upper_limits_); - // ---- advance profile time (time scaling) ---- - // IMPORTANT: tau advances by gamma_tot*dt_real => if slowed by limits, profile slows too - tau = std::min(prof.T, tau + gamma_tot * step_real); + tau = std::min(prof.total_time, tau + gamma_tot * step_real); t += step_real; - // log A/B/C if (t >= next_log_t) { next_log_t += log_period; @@ -866,7 +640,7 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ std::cerr << "[MoveL ABC] t=" << t - << " tau=" << tau << "/" << prof.T + << " tau=" << tau << "/" << prof.total_time << " s=" << s << "/" << L << " sd=" << sd << " gamma_speed=" << gamma_speed @@ -892,21 +666,413 @@ bool PinocchioDlsIKSolver::moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_ } } - // save std::vector q_out(chain_dof_); Eigen::Map(q_out.data(), chain_dof_) = q_chain; q_traj.push_back(std::move(q_out)); t_traj.push_back(t); } - // ---- ensure end stop for finite difference velocity ---- - if (!q_traj.empty() && !t_traj.empty()) { - t_traj.push_back(t_traj.back() + dt_real); - q_traj.push_back(q_traj.back()); // hold => diff-speed becomes 0 - } - return !q_traj.empty(); } +// ==================== speedL ==================== + +bool PinocchioDlsIKSolver::configureSpeedL(const SpeedLConfig& config) +{ + if (!initialized_) { + std::cerr << "[PinocchioDlsIKSolver] configureSpeedL failed: solver not initialized\n"; + return false; + } + + if (!config.joint_velocity_max.empty() && + static_cast(config.joint_velocity_max.size()) != chain_v_dof_) { + std::cerr << "[PinocchioDlsIKSolver] configureSpeedL failed: joint_velocity_max size mismatch\n"; + return false; + } + + if (!config.joint_acceleration_max.empty() && + static_cast(config.joint_acceleration_max.size()) != chain_v_dof_) { + std::cerr << "[PinocchioDlsIKSolver] configureSpeedL failed: joint_acceleration_max size mismatch\n"; + return false; + } + + speedl_config_ = config; + + speedl_twist_limiter_.setLinearConstraints(config.linear_velocity_max, + config.linear_acceleration_max, + config.linear_jerk_max); + speedl_twist_limiter_.setAngularConstraints(config.angular_velocity_max, + config.angular_acceleration_max, + config.angular_jerk_max); + speedl_twist_limiter_.setLinearTargetReplanThreshold(config.linear_target_replan_threshold); + speedl_twist_limiter_.setAngularTargetReplanThreshold(config.angular_target_replan_threshold); + speedl_twist_limiter_.setLinearReverseSwitchPolicy(config.linear_reverse_cos_threshold, + config.linear_reverse_switch_speed_threshold); + + speedl_twist_limiter_.reset(); + speedl_prev_qdot_cmd_.assign(chain_v_dof_, 0.0); + speedl_twist_measured_base_.setZero(); + speedl_twist_command_base_.setZero(); + speedl_twist_executed_base_.setZero(); + + speedl_configured_ = true; + return true; +} + +void PinocchioDlsIKSolver::resetSpeedL() +{ + speedl_twist_limiter_.reset(); + speedl_prev_qdot_cmd_.assign(chain_v_dof_, 0.0); + speedl_twist_measured_base_.setZero(); + speedl_twist_command_base_.setZero(); + speedl_twist_executed_base_.setZero(); +} + +bool PinocchioDlsIKSolver::resolveSpeedLEeFrame(bool is_tcp, pinocchio::FrameIndex& ee_id) const +{ + if (is_tcp && has_tcp_) { + ee_id = tcp_frame_id_; + return true; + } + ee_id = flange_frame_id_; + return true; +} + +bool PinocchioDlsIKSolver::buildJacobianBaseAtQ(const std::vector& q_chain_std, + pinocchio::FrameIndex ee_id, + Eigen::MatrixXd& J_base, + Eigen::Matrix3d& base_R_ee, + Eigen::VectorXd* q_full_out) +{ + if (static_cast(q_chain_std.size()) != chain_dof_) { + std::cerr << "[PinocchioDlsIKSolver] buildJacobianBaseAtQ: q size mismatch\n"; + return false; + } + + const Eigen::Map q_chain(q_chain_std.data(), chain_dof_); + + Eigen::VectorXd q_full; + if (!buildFullQFromChain(q_chain, q_full, "speedL.buildJacobianBaseAtQ")) { + return false; + } + + updateKinematics(q_full); + + const pinocchio::SE3& oM_base = getBasePoseWorld(); + const pinocchio::SE3& oM_ee = data_->oMf[ee_id]; + const pinocchio::SE3 base_M_ee = oM_base.inverse() * oM_ee; + base_R_ee = base_M_ee.rotation(); + + Eigen::Matrix J_world(6, model_.nv); + pinocchio::computeFrameJacobian(model_, *data_, q_full, + ee_id, + pinocchio::ReferenceFrame::LOCAL_WORLD_ALIGNED, + J_world); + + J_base = extractChainJacobian(J_world); + + const Eigen::Matrix3d R_bo = oM_base.rotation().transpose(); + J_base.topRows(3) = R_bo * J_base.topRows(3); + J_base.bottomRows(3) = R_bo * J_base.bottomRows(3); + + if (q_full_out != nullptr) { + *q_full_out = q_full; + } + + return true; +} + +bool PinocchioDlsIKSolver::computeMeasuredTwistBase(const std::vector& q_chain, + const std::vector& qdot_chain, + pinocchio::FrameIndex ee_id, + Eigen::Matrix& twist_base, + Eigen::MatrixXd* J_base_out, + Eigen::Matrix3d* base_R_ee_out, + Eigen::VectorXd* q_full_out) +{ + if (static_cast(qdot_chain.size()) != chain_v_dof_) { + std::cerr << "[PinocchioDlsIKSolver] computeMeasuredTwistBase: qdot size mismatch\n"; + return false; + } + + Eigen::MatrixXd J_base; + Eigen::Matrix3d base_R_ee = Eigen::Matrix3d::Identity(); + if (!buildJacobianBaseAtQ(q_chain, ee_id, J_base, base_R_ee, q_full_out)) { + return false; + } + + const Eigen::Map qdot(qdot_chain.data(), chain_v_dof_); + twist_base = J_base * qdot; + + if (J_base_out != nullptr) { + *J_base_out = J_base; + } + if (base_R_ee_out != nullptr) { + *base_R_ee_out = base_R_ee; + } + + return true; +} + +Eigen::VectorXd PinocchioDlsIKSolver::applyJointVelocityLimits(const Eigen::VectorXd& qdot_des) const +{ + if (qdot_des.size() != chain_v_dof_) { + return Eigen::VectorXd::Zero(chain_v_dof_); + } + + double gamma = 1.0; + for (int i = 0; i < chain_v_dof_; ++i) { + double limit_i = std::numeric_limits::infinity(); + + if (!speedl_config_.joint_velocity_max.empty()) { + const double cfg_lim = std::abs(speedl_config_.joint_velocity_max[i]); + if (cfg_lim > 0.0) { + limit_i = std::min(limit_i, cfg_lim); + } + } + + if (joint_vel_limits_.size() == chain_v_dof_) { + const double urdf_lim = std::abs(joint_vel_limits_[i]); + if (std::isfinite(urdf_lim) && urdf_lim > 0.0) { + limit_i = std::min(limit_i, urdf_lim); + } + } + + const double qi = std::abs(qdot_des[i]); + if (std::isfinite(limit_i) && limit_i > 0.0 && qi > limit_i) { + gamma = std::min(gamma, limit_i / qi); + } + } + + return gamma * qdot_des; +} + +Eigen::VectorXd PinocchioDlsIKSolver::applyJointAccelerationLimits(const Eigen::VectorXd& qdot_des, + const Eigen::VectorXd& qdot_reference, + double dt) const +{ + if (qdot_des.size() != chain_v_dof_ || qdot_reference.size() != chain_v_dof_ || dt <= 0.0) { + return qdot_des; + } + + if (speedl_config_.joint_acceleration_max.empty()) { + return qdot_des; + } + + double gamma = 1.0; + for (int i = 0; i < chain_v_dof_; ++i) { + const double amax = std::abs(speedl_config_.joint_acceleration_max[i]); + if (amax <= 0.0) { + continue; + } + + const double delta = qdot_des[i] - qdot_reference[i]; + const double max_delta = amax * dt; + const double abs_delta = std::abs(delta); + + if (abs_delta > max_delta) { + gamma = std::min(gamma, max_delta / abs_delta); + } + } + + return qdot_reference + gamma * (qdot_des - qdot_reference); +} + +bool PinocchioDlsIKSolver::speedLStep(const Eigen::Matrix& target_twist, + double dt, + const std::vector& q_measured, + const std::vector& qdot_measured, + std::vector& qdot_cmd, + CartesianFrame input_frame, + bool is_tcp) +{ + if (!initialized_) { + std::cerr << "[PinocchioDlsIKSolver] speedLStep failed: solver not initialized\n"; + return false; + } + if (!speedl_configured_) { + std::cerr << "[PinocchioDlsIKSolver] speedLStep failed: speedL not configured\n"; + return false; + } + if (dt <= 0.0) { + std::cerr << "[PinocchioDlsIKSolver] speedLStep failed: invalid dt\n"; + return false; + } + if (static_cast(q_measured.size()) != chain_dof_) { + std::cerr << "[PinocchioDlsIKSolver] speedLStep failed: q_measured size mismatch\n"; + return false; + } + if (static_cast(qdot_measured.size()) != chain_v_dof_) { + std::cerr << "[PinocchioDlsIKSolver] speedLStep failed: qdot_measured size mismatch\n"; + return false; + } + + pinocchio::FrameIndex ee_id = flange_frame_id_; + if (!resolveSpeedLEeFrame(is_tcp, ee_id)) { + return false; + } + speedl_last_is_tcp_ = is_tcp; + + cur_joints_angle_ = q_measured; + + Eigen::MatrixXd J_base; + Eigen::Matrix3d base_R_ee = Eigen::Matrix3d::Identity(); + Eigen::VectorXd q_full; + if (!computeMeasuredTwistBase(q_measured, + qdot_measured, + ee_id, + speedl_twist_measured_base_, + &J_base, + &base_R_ee, + &q_full)) { + return false; + } + + // 1) 用 measured twist 同步 task-space limiter + speedl_twist_limiter_.synchronize(speedl_twist_measured_base_, dt, true); + + // 2) 设置目标 twist + speedl_twist_limiter_.setTargetTwist(target_twist, input_frame); + + // 3) task-space 限幅得到命令 twist(base) + const Eigen::Matrix twist_cmd_base = + speedl_twist_limiter_.update(dt, base_R_ee); + speedl_twist_command_base_ = twist_cmd_base; + + // 4) DLS 微分 IK：qdot_des = J^T (J J^T + λ²I)^-1 * twist_cmd_base + const double lambda = damping_; + Eigen::Matrix A = J_base * J_base.transpose(); + A.diagonal().array() += (lambda * lambda); + + Eigen::LDLT> ldlt(A); + if (ldlt.info() != Eigen::Success) { + std::cerr << "[PinocchioDlsIKSolver] speedLStep failed: LDLT decomposition failed\n"; + return false; + } + + Eigen::VectorXd qdot_des = J_base.transpose() * ldlt.solve(twist_cmd_base); + + // 4.1) null-space joint-limit avoidance + const Eigen::Map q_chain(q_measured.data(), chain_dof_); + const Eigen::VectorXd qdot_avoid = computeJointLimitAvoidanceVelocity(q_chain); + if (qdot_avoid.size() == chain_v_dof_ && qdot_avoid.squaredNorm() > 1e-16) { + const Eigen::Matrix A_inv = + ldlt.solve(Eigen::Matrix::Identity()); + const Eigen::MatrixXd J_pinv = J_base.transpose() * A_inv; + qdot_des += projectToNullspace(J_pinv, J_base, qdot_avoid); + } + + // 5) joint velocity limit（整体缩放） + qdot_des = applyJointVelocityLimits(qdot_des); + + // 6) joint acceleration limit（相对 measured qdot 整体缩放） + const Eigen::Map qdot_meas_vec(qdot_measured.data(), chain_v_dof_); + qdot_des = applyJointAccelerationLimits(qdot_des, qdot_meas_vec, dt); + + // 7) 输出 + qdot_cmd.resize(chain_v_dof_); + for (int i = 0; i < chain_v_dof_; ++i) { + qdot_cmd[i] = qdot_des[i]; + } + + speedl_prev_qdot_cmd_.assign(qdot_cmd.begin(), qdot_cmd.end()); + + // 8) 回算 executed twist(base) + speedl_twist_executed_base_ = J_base * qdot_des; + + return true; +} + +bool PinocchioDlsIKSolver::speedLStep(const Eigen::Matrix& target_twist, + double dt, + const std::vector& q_measured, + std::vector& qdot_cmd, + CartesianFrame input_frame, + bool is_tcp) +{ + if (!initialized_) { + std::cerr << "[PinocchioDlsIKSolver] speedLStep(q-only) failed: solver not initialized\n"; + return false; + } + if (!speedl_configured_) { + std::cerr << "[PinocchioDlsIKSolver] speedLStep(q-only) failed: speedL not configured\n"; + return false; + } + if (dt <= 0.0) { + std::cerr << "[PinocchioDlsIKSolver] speedLStep(q-only) failed: invalid dt\n"; + return false; + } + if (static_cast(q_measured.size()) != chain_dof_) { + std::cerr << "[PinocchioDlsIKSolver] speedLStep(q-only) failed: q_measured size mismatch\n"; + return false; + } + + std::vector qdot_measured(chain_v_dof_, 0.0); + if (static_cast(speedl_prev_qdot_cmd_.size()) == chain_v_dof_) { + qdot_measured = speedl_prev_qdot_cmd_; + } + + return speedLStep(target_twist, + dt, + q_measured, + qdot_measured, + qdot_cmd, + input_frame, + is_tcp); +} + +bool PinocchioDlsIKSolver::speedLStep(const Eigen::Matrix& target_twist, + double dt, + std::vector& qdot_cmd, + CartesianFrame input_frame, + bool is_tcp) +{ + if (!initialized_) { + std::cerr << "[PinocchioDlsIKSolver] speedLStep(open-loop) failed: solver not initialized\n"; + return false; + } + if (!speedl_configured_) { + std::cerr << "[PinocchioDlsIKSolver] speedLStep(open-loop) failed: speedL not configured\n"; + return false; + } + if (dt <= 0.0) { + std::cerr << "[PinocchioDlsIKSolver] speedLStep(open-loop) failed: invalid dt\n"; + return false; + } + if (static_cast(cur_joints_angle_.size()) != chain_dof_) { + std::cerr << "[PinocchioDlsIKSolver] speedLStep(open-loop) failed: current joints not initialized\n"; + return false; + } + if (chain_dof_ != chain_v_dof_) { + std::cerr << "[PinocchioDlsIKSolver] speedLStep(open-loop) failed: internal q += qdot * dt propagation requires chain_dof == chain_v_dof_\n"; + return false; + } + + std::vector q_measured = cur_joints_angle_; + const bool ok = speedLStep(target_twist, + dt, + q_measured, + qdot_cmd, + input_frame, + is_tcp); + if (!ok) { + return false; + } + if (static_cast(qdot_cmd.size()) != chain_v_dof_) { + std::cerr << "[PinocchioDlsIKSolver] speedLStep(open-loop) failed: qdot_cmd size mismatch after closed-loop solve\n"; + return false; + } + + Eigen::Map q_chain(cur_joints_angle_.data(), chain_dof_); + const Eigen::Map qdot_cmd_vec(qdot_cmd.data(), chain_v_dof_); + q_chain += qdot_cmd_vec * dt; + + if (joint_pos_lower_limits_.size() == chain_dof_ && + joint_pos_upper_limits_.size() == chain_dof_) { + q_chain = q_chain.cwiseMax(joint_pos_lower_limits_).cwiseMin(joint_pos_upper_limits_); + } + + return true; +} } // namespace cmvr diff --git a/cmvr-es/ik_solver/src/srs_ik_test.cpp b/cmvr-es/ik_solver/src/srs_ik_test.cpp index 9359db10..4ee03407 100644 --- a/cmvr-es/ik_solver/src/srs_ik_test.cpp +++ b/cmvr-es/ik_solver/src/srs_ik_test.cpp @@ -7,18 +7,26 @@ #include "ik_solver/include/bias_srs_ik_slover.h" #include "ik_solver/include/joints_limit_analyzer.h" #include "ik_solver/include/opt_psi_selector.h" -#include -#include -#include +#include +#include +#include +#include #include +#include +#include +#include +#include +#include +#include +#include #include "ik_solver/include/lawba_ik_solver.h" #include "simulate/mujoco/mujoco_viewer/include/mujoco_viewer.h" -#include "common/utils/math/support_functions.h" #include "planner/joint_space_planner/include/toppra_bspline.h" #include "planner/joint_space_planner/include/joint_space_planner_creator.h" -#include "common/utils/math/support_functions.h" +#include "common/math/include/support_functions.h" #include "ik_solver/include/pinocchio_qp_ik_solver.h" +#include using namespace cmvr; @@ -81,56 +89,118 @@ static std::filesystem::path find_project_root() { class DualArmViewer : public MuJocoViewer { public: using Vec7 = std::vector; + enum class ControlMode { + PositionHold, + VelocityHold + }; explicit DualArmViewer(const char *model_path) : MuJocoViewer(model_path), - q_cmd_(7, 0.0) {} + q_cmd_(7, 0.0), + qd_cmd_(7, 0.0), + q_meas_(7, 0.0), + qd_meas_(7, 0.0) {} void moveJ(const Vec7 &q_target) { std::lock_guard lk(mtx_); q_cmd_ = q_target; - traj_active_ = false; + qd_cmd_.assign(7, 0.0); + control_mode_ = ControlMode::PositionHold; } - // 设置整条轨迹（t 单调递增，q.size == t.size） - void setTrajectory(std::vector t, std::vector q) { + void speedJ(const Vec7 &qd_target) { std::lock_guard lk(mtx_); - traj_t_ = std::move(t); - traj_q_ = std::move(q); - traj_active_ = false; - traj_done_ = false; - traj_idx_ = 0; - traj_t0_sim_ = -1.0; + qd_cmd_ = qd_target; + control_mode_ = ControlMode::VelocityHold; } - void startTrajectory() { + Vec7 getQ() const { std::lock_guard lk(mtx_); - traj_active_ = true; - traj_done_ = false; - traj_idx_ = 0; - traj_t0_sim_ = -1.0; + return q_meas_; } - bool trajDone() const { + Vec7 getQd() const { std::lock_guard lk(mtx_); - return traj_done_; + return qd_meas_; + } + + void getJointState(Vec7& q, Vec7& qd) const { + std::lock_guard lk(mtx_); + q = q_meas_; + qd = qd_meas_; + } + + bool getTcpTwistState(Eigen::Vector3d& position, + Eigen::Vector3d& linear_velocity, + Eigen::Vector3d& angular_velocity) const { + std::lock_guard lk(mtx_); + if (tcp_site_id_ < 0) { + return false; + } + position = tcp_pos_meas_; + linear_velocity = tcp_vel_meas_; + angular_velocity = tcp_omega_meas_; + return true; + } + + bool getTcpLinearState(Eigen::Vector3d& position, Eigen::Vector3d& velocity) const { + std::lock_guard lk(mtx_); + if (tcp_site_id_ < 0) { + return false; + } + position = tcp_pos_meas_; + velocity = tcp_vel_meas_; + return true; } protected: + static constexpr int kLeftPositionActuatorGroup = 0; + static constexpr int kLeftVelocityActuatorGroup = 1; + static constexpr int kRightPositionActuatorGroup = 2; + static constexpr int kRightVelocityActuatorGroup = 3; + void initOnce(mjModel *m, mjData *d) override { UNUSED_VARIABLE(d); - const char *act_names[7] = { + const char *pos_act_names[7] = { "R_SHOULDER_P_pos","R_SHOULDER_R_pos","R_SHOULDER_Y_pos", "R_ELBOW_R_pos","R_WRIST_P_pos","R_WRIST_Y_pos","R_WRIST_R_pos" }; + const char *vel_act_names[7] = { + "R_SHOULDER_P_vel","R_SHOULDER_R_vel","R_SHOULDER_Y_vel", + "R_ELBOW_R_vel","R_WRIST_P_vel","R_WRIST_Y_vel","R_WRIST_R_vel" + }; + const char *joint_names[7] = { + "R_SHOULDER_P","R_SHOULDER_R","R_SHOULDER_Y", + "R_ELBOW_R","R_WRIST_P","R_WRIST_Y","R_WRIST_R" + }; for (int i = 0; i < 7; ++i) { - int act_id = mj_name2id(m, mjOBJ_ACTUATOR, act_names[i]); - right_act_ids_[i] = act_id; - if (act_id < 0) { - std::cerr << "[DualArmViewer] actuator not found: " << act_names[i] << "\n"; + const int pos_act_id = mj_name2id(m, mjOBJ_ACTUATOR, pos_act_names[i]); + right_pos_act_ids_[i] = pos_act_id; + if (pos_act_id < 0) { + std::cerr << "[DualArmViewer] position actuator not found: " + << pos_act_names[i] << "\n"; } + + const int vel_act_id = mj_name2id(m, mjOBJ_ACTUATOR, vel_act_names[i]); + right_vel_act_ids_[i] = vel_act_id; + if (vel_act_id < 0) { + std::cerr << "[DualArmViewer] velocity actuator not found: " + << vel_act_names[i] << "\n"; + } + + const int joint_id = mj_name2id(m, mjOBJ_JOINT, joint_names[i]); + right_qpos_ids_[i] = (joint_id >= 0) ? m->jnt_qposadr[joint_id] : -1; + right_qvel_ids_[i] = (joint_id >= 0) ? m->jnt_dofadr[joint_id] : -1; + if (joint_id < 0) { + std::cerr << "[DualArmViewer] joint not found: " << joint_names[i] << "\n"; + } + } + + tcp_site_id_ = mj_name2id(m, mjOBJ_SITE, "R_FINGER_TIP_SITE"); + if (tcp_site_id_ < 0) { + std::cerr << "[DualArmViewer] tcp site not found: R_FINGER_TIP_SITE\n"; } act_ids_inited_ = true; } @@ -139,68 +209,93 @@ protected: return std::max(lo, std::min(hi, x)); } - // 线性插值采样（调用前已持锁） - Vec7 sampleTrajUnlocked(double t) { - Vec7 out = q_cmd_; - - if (traj_t_.empty() || traj_q_.empty()) return out; - if (traj_t_.size() != traj_q_.size()) return out; - - const double T = traj_t_.back(); - if (t <= 0.0) return traj_q_.front(); - if (t >= T) return traj_q_.back(); - - // 利用 traj_idx_ 单调推进，O(1) 均摊 - while (traj_idx_ + 1 < traj_t_.size() && traj_t_[traj_idx_ + 1] < t) { - traj_idx_++; - } - - size_t i = traj_idx_; - size_t j = i + 1; - if (j >= traj_t_.size()) return traj_q_.back(); - - double t0 = traj_t_[i], t1 = traj_t_[j]; - double u = (t - t0) / std::max(1e-12, (t1 - t0)); - - out.resize(7); - for (int k = 0; k < 7; ++k) { - out[k] = (1.0 - u) * traj_q_[i][k] + u * traj_q_[j][k]; - } - return out; - } - void controlCallback(mjModel *m, mjData *d) override { if (!act_ids_inited_) return; Vec7 q_local(7, 0.0); + Vec7 qd_local(7, 0.0); + ControlMode mode_local = ControlMode::PositionHold; { std::lock_guard lk(mtx_); - - if (traj_active_ && !traj_t_.empty()) { - if (traj_t0_sim_ < 0.0) traj_t0_sim_ = d->time; // 用仿真时间对齐 - const double t = d->time - traj_t0_sim_; - - q_local = sampleTrajUnlocked(t); - - if (t >= traj_t_.back()) { - traj_active_ = false; - traj_done_ = true; - q_cmd_ = traj_q_.back(); // 结束后保持终点 - } - } else { + mode_local = control_mode_; + if (control_mode_ == ControlMode::PositionHold) { q_local = q_cmd_; + } else { + qd_local = qd_cmd_; } } - // 写 ctrl（同时按 ctrlrange clamp 一下更稳） - for (int i = 0; i < 7; ++i) { - int act_id = right_act_ids_[i]; - if (act_id < 0) continue; + int disable_mask = (1 << kLeftVelocityActuatorGroup); + if (mode_local == ControlMode::PositionHold) { + disable_mask |= (1 << kRightVelocityActuatorGroup); + } else { + disable_mask |= (1 << kRightPositionActuatorGroup); + } + m->opt.disableactuator = disable_mask; - double lo = m->actuator_ctrlrange[2*act_id + 0]; - double hi = m->actuator_ctrlrange[2*act_id + 1]; - d->ctrl[act_id] = clamp(q_local[i], lo, hi); + Vec7 q_meas(7, 0.0); + Vec7 qd_meas(7, 0.0); + for (int i = 0; i < 7; ++i) { + const int qpos_id = right_qpos_ids_[i]; + if (qpos_id >= 0) { + q_meas[i] = d->qpos[qpos_id]; + } + const int qvel_id = right_qvel_ids_[i]; + if (qvel_id >= 0) { + qd_meas[i] = d->qvel[qvel_id]; + } + } + + Eigen::Vector3d tcp_pos = Eigen::Vector3d::Zero(); + Eigen::Vector3d tcp_vel = Eigen::Vector3d::Zero(); + Eigen::Vector3d tcp_omega = Eigen::Vector3d::Zero(); + if (tcp_site_id_ >= 0) { + const mjtNum* site_xpos = d->site_xpos + 3 * tcp_site_id_; + tcp_pos = Eigen::Vector3d(site_xpos[0], site_xpos[1], site_xpos[2]); + + mjtNum site_vel[6] = {0, 0, 0, 0, 0, 0}; + mj_objectVelocity(m, d, mjOBJ_SITE, tcp_site_id_, site_vel, 0); + tcp_omega = Eigen::Vector3d(site_vel[0], site_vel[1], site_vel[2]); + tcp_vel = Eigen::Vector3d(site_vel[3], site_vel[4], site_vel[5]); + } + + { + std::lock_guard lk(mtx_); + q_meas_ = q_meas; + qd_meas_ = qd_meas; + tcp_pos_meas_ = tcp_pos; + tcp_vel_meas_ = tcp_vel; + tcp_omega_meas_ = tcp_omega; + } + + for (int i = 0; i < 7; ++i) { + const int pos_act_id = right_pos_act_ids_[i]; + const int vel_act_id = right_vel_act_ids_[i]; + + if (mode_local == ControlMode::PositionHold) { + if (pos_act_id >= 0) { + const double lo = m->actuator_ctrlrange[2 * pos_act_id + 0]; + const double hi = m->actuator_ctrlrange[2 * pos_act_id + 1]; + d->ctrl[pos_act_id] = clamp(q_local[i], lo, hi); + } + if (vel_act_id >= 0) { + const double lo = m->actuator_ctrlrange[2 * vel_act_id + 0]; + const double hi = m->actuator_ctrlrange[2 * vel_act_id + 1]; + d->ctrl[vel_act_id] = clamp(0.0, lo, hi); + } + } else { + if (pos_act_id >= 0) { + const double lo = m->actuator_ctrlrange[2 * pos_act_id + 0]; + const double hi = m->actuator_ctrlrange[2 * pos_act_id + 1]; + d->ctrl[pos_act_id] = clamp(q_meas[i], lo, hi); + } + if (vel_act_id >= 0) { + const double lo = m->actuator_ctrlrange[2 * vel_act_id + 0]; + const double hi = m->actuator_ctrlrange[2 * vel_act_id + 1]; + d->ctrl[vel_act_id] = clamp(qd_local[i], lo, hi); + } + } } } @@ -209,28 +304,32 @@ protected: UNUSED_VARIABLE(d); std::lock_guard lk(mtx_); q_cmd_.assign(7, 0.0); - traj_active_ = false; - traj_done_ = false; - traj_idx_ = 0; - traj_t0_sim_ = -1.0; - traj_t_.clear(); - traj_q_.clear(); + qd_cmd_.assign(7, 0.0); + q_meas_.assign(7, 0.0); + qd_meas_.assign(7, 0.0); + tcp_pos_meas_.setZero(); + tcp_vel_meas_.setZero(); + tcp_omega_meas_.setZero(); + control_mode_ = ControlMode::PositionHold; } private: - std::array right_act_ids_{}; + std::array right_pos_act_ids_{}; + std::array right_vel_act_ids_{}; + std::array right_qpos_ids_{}; + std::array right_qvel_ids_{}; + int tcp_site_id_{-1}; bool act_ids_inited_{false}; mutable std::mutex mtx_; Vec7 q_cmd_; - - // trajectory - std::vector traj_t_; - std::vector traj_q_; - bool traj_active_{false}; - bool traj_done_{false}; - size_t traj_idx_{0}; - double traj_t0_sim_{-1.0}; + Vec7 qd_cmd_; + Vec7 q_meas_; + Vec7 qd_meas_; + Eigen::Vector3d tcp_pos_meas_{Eigen::Vector3d::Zero()}; + Eigen::Vector3d tcp_vel_meas_{Eigen::Vector3d::Zero()}; + Eigen::Vector3d tcp_omega_meas_{Eigen::Vector3d::Zero()}; + ControlMode control_mode_{ControlMode::PositionHold}; }; @@ -1017,6 +1116,60 @@ static void write_qtraj_csv(const std::string& path, } } +static void write_twist_trace_csv( + const std::string& path, + const std::vector& t, + const std::vector>& twist) +{ + using Twist = Eigen::Matrix; + const size_t N = std::min(t.size(), twist.size()); + std::vector acceleration(N, Twist::Zero()); + std::vector jerk(N, Twist::Zero()); + + auto safe_dt = [](double dt) { + return (dt > 1e-9) ? dt : 1e-9; + }; + + if (N >= 2) { + const double dt0 = safe_dt(t[1] - t[0]); + acceleration[0] = (twist[1] - twist[0]) / dt0; + + for (size_t i = 1; i + 1 < N; ++i) { + const double dt_c = safe_dt(t[i + 1] - t[i - 1]); + acceleration[i] = (twist[i + 1] - twist[i - 1]) / dt_c; + } + + const double dtn = safe_dt(t[N - 1] - t[N - 2]); + acceleration[N - 1] = (twist[N - 1] - twist[N - 2]) / dtn; + } + + if (N >= 2) { + const double dt0 = safe_dt(t[1] - t[0]); + jerk[0] = (acceleration[1] - acceleration[0]) / dt0; + + for (size_t i = 1; i + 1 < N; ++i) { + const double dt_c = safe_dt(t[i + 1] - t[i - 1]); + jerk[i] = (acceleration[i + 1] - acceleration[i - 1]) / dt_c; + } + + const double dtn = safe_dt(t[N - 1] - t[N - 2]); + jerk[N - 1] = (acceleration[N - 1] - acceleration[N - 2]) / dtn; + } + + std::ofstream os(path); + os << "t," + "vx,vy,vz,wx,wy,wz," + "ax,ay,az,alphax,alphay,alphaz," + "jx,jy,jz,jalphax,jalphay,jalphaz\n"; + for (size_t i = 0; i < N; ++i) { + os << std::setprecision(15) << t[i]; + for (int k = 0; k < 6; ++k) os << "," << twist[i][k]; + for (int k = 0; k < 6; ++k) os << "," << acceleration[i][k]; + for (int k = 0; k < 6; ++k) os << "," << jerk[i][k]; + os << "\n"; + } +} + static void print_tcp_speed_stats(cmvr::PinocchioDlsIKSolver& solver, const std::vector& t, const std::vector>& q, @@ -1096,6 +1249,7 @@ TEST(SRS_IK_TEST, MOVEL_S_CURVE_LOCAL_RUN_MUJOCO) { // std::vector q_start = {-0.424743, 0.759386, 1.80129, 2.03728, -1.34668, 0.0560845, -0.26}; std::vector q_start = {0.25, 1.00, M_PI / 2, M_PI / 2, -M_PI / 2, 0, 0}; // std::vector q_start = {0, 1.00, M_PI / 2, M_PI / 2, -M_PI / 2, 0, 0}; + // viewer.moveJ(q_start); // 起点位姿（base下） @@ -1106,15 +1260,15 @@ TEST(SRS_IK_TEST, MOVEL_S_CURVE_LOCAL_RUN_MUJOCO) { // 目标位姿：base X 方向走 0.25m，姿态保持起点 Eigen::Matrix4d Tg = T0; - Tg(0,3) += 0.1; - // Tg(2,3) += 0.3; + // Tg(0,3) += 0.2; + Tg(2,3) += 0.2; Eigen::Vector3d dp_check = Tg.block<3,1>(0,3) - T0.block<3,1>(0,3); std::cerr << "dp(base)=" << dp_check.transpose() << "\n"; // 轨迹生成参数（生成 dt 不必极小，1ms~2ms 足够；真正平滑靠 S 曲线 + MuJoCo 伺服滤波） const double dt_gen = 0.002; - const double v_tcp = 1.0; - const double a_tcp = 10.0; + const double v_tcp = 0.2; + const double a_tcp = 5.0; const double j_tcp = 100.00; std::vector qd_max(7, 3.0); @@ -1145,17 +1299,13 @@ TEST(SRS_IK_TEST, MOVEL_S_CURVE_LOCAL_RUN_MUJOCO) { // 正确的 TCP 速度统计（用 t_traj） print_tcp_speed_stats(solver, t_traj, q_traj, true); - // 把轨迹交给 viewer：在 controlCallback 内用 d->time 插值执行（不会线程抖） - std::vector q7; - q7.reserve(q_traj.size()); - for (auto& qi : q_traj) q7.push_back(qi); - - viewer.setTrajectory(t_traj, std::move(q7)); - viewer.startTrajectory(); - - // 可选：等轨迹跑完再退出线程 - while (!viewer.trajDone()) { - std::this_thread::sleep_for(1ms); + // 直接按采样时刻逐点下发位置目标，不在 viewer 内做轨迹缓存和插值。 + const auto t0 = std::chrono::steady_clock::now(); + for (size_t i = 0; i < q_traj.size(); ++i) { + std::this_thread::sleep_until( + t0 + std::chrono::duration_cast( + std::chrono::duration(t_traj[i]))); + viewer.moveJ(q_traj[i]); } std::cerr << "trajectory finished in MuJoCo.\n"; }); @@ -1163,3 +1313,531 @@ TEST(SRS_IK_TEST, MOVEL_S_CURVE_LOCAL_RUN_MUJOCO) { viewer.run(); ctrl_thread.join(); } + + +TEST(SRS_IK_TEST, SPEEDJ_RUN_MUJOCO) { + std::cerr.setf(std::ios::unitbuf); + + const auto project_root = find_project_root(); + const auto model_path = (project_root / "model/xiaoyan_description/dual_arm.xml").string(); + + DualArmViewer viewer(model_path.c_str()); + bool ctrl_ok = true; + std::string failure_msg; + double joint_delta = 0.0; + double settle_drift = 0.0; + + std::thread ctrl_thread([&]() { + using namespace std::chrono_literals; + + auto fail = [&](const std::string& msg) { + ctrl_ok = false; + failure_msg = msg; + std::cerr << msg << "\n"; + }; + + std::this_thread::sleep_for(3s); + + std::vector q_start = {0.25, 1.00, M_PI / 2, M_PI / 2, -M_PI / 2, 0, 0}; + viewer.moveJ(q_start); + std::this_thread::sleep_for(2s); + + const auto q0 = viewer.getQ(); + if (q0.size() != 7) { + fail("invalid q0 size"); + return; + } + + std::vector qd_cmd(7, 0.0); + qd_cmd[0] = 0.2; // 只测 0 号关节 + + viewer.speedJ(qd_cmd); + std::this_thread::sleep_for(2s); + + const auto q1 = viewer.getQ(); + if (q1.size() != 7) { + fail("invalid q1 size"); + return; + } + + viewer.speedJ(std::vector(7, 0.0)); + std::this_thread::sleep_for(1s); + + const auto q2 = viewer.getQ(); + if (q2.size() != 7) { + fail("invalid q2 size"); + return; + } + + viewer.moveJ(q2); // 切回位置保持 + + joint_delta = q1[0] - q0[0]; + settle_drift = std::abs(q2[0] - q1[0]); + + std::cerr << "q0[0]=" << q0[0] + << " q1[0]=" << q1[0] + << " q2[0]=" << q2[0] + << " joint_delta=" << joint_delta + << " settle_drift=" << settle_drift << "\n"; + }); + + viewer.run(); + ctrl_thread.join(); + + ASSERT_TRUE(ctrl_ok) << failure_msg; + EXPECT_GT(joint_delta, 0.1); + EXPECT_LT(settle_drift, 0.05); +} + +TEST(SRS_IK_TEST, SPEEDL_RUN_MUJOCO) { + std::cerr.setf(std::ios::unitbuf); + + const auto project_root = find_project_root(); + const auto model_path = (project_root / "model/xiaoyan_description/dual_arm.xml").string(); + const auto urdf_path = (project_root / "model/xiaoyan_description/dual_arm.urdf").string(); + + DualArmViewer viewer(model_path.c_str()); + bool ctrl_ok = true; + std::string failure_msg; + bool has_exec_samples = false; + double max_exec_linear_yz = 0.0; + double min_exec_vx = std::numeric_limits::infinity(); + double max_exec_vx = -std::numeric_limits::infinity(); + double min_abs_vx_before_reverse = std::numeric_limits::infinity(); + bool saw_negative_after_reverse = false; + double final_exec_linear_speed = std::numeric_limits::infinity(); + std::vector tcp_time; + std::vector tcp_position; + std::vector tcp_velocity; + std::vector tcp_angular_velocity; + std::vector cmd_tcp_position; + std::vector cmd_tcp_velocity; + std::vector cmd_tcp_angular_velocity; + bool tcp_trace_ok = false; + + std::thread ctrl_thread([&]() { + using namespace std::chrono_literals; + std::this_thread::sleep_for(3s); + + auto fail = [&](const std::string& msg) { + ctrl_ok = false; + failure_msg = msg; + std::cerr << msg << "\n"; + }; + + cmvr::PinocchioDlsIKSolver solver( + urdf_path, + "PELVIS_S", + "R_WRIST_R_S", + "R_FINGER_TIP_FIXED" + ); + if (!solver.init()) { + fail("speedL test: solver.init() failed"); + return; + } + + const double dt = 0.002; + const double segment_time = 1.5; + const double stop_time = 1.0; + const double settle_time = 1.0; + const double total_time = 2.0 * segment_time + stop_time; + const double linear_speed_cmd = 0.15; + const double max_q_ref_tracking_error = 0.15; + + std::vector q_start = {0.25, 1.00, M_PI / 2, M_PI / 2, -M_PI / 2, 0, 0}; + viewer.moveJ(q_start); + std::this_thread::sleep_for(1s); + + const std::vector q_init = viewer.getQ(); + solver.update_joints_state(q_init); + std::vector q_ref = q_init; + + cmvr::PinocchioDlsIKSolver::SpeedLConfig speedl_config; + speedl_config.linear_velocity_max = 0.55; + speedl_config.linear_acceleration_max = 0.80; + speedl_config.linear_jerk_max = 3.30; + speedl_config.angular_velocity_max = 1.00; + speedl_config.angular_acceleration_max = 3.00; + speedl_config.angular_jerk_max = 12.0; + speedl_config.joint_acceleration_max = std::vector(7, 8.0); + speedl_config.linear_target_replan_threshold = 1e-4; + speedl_config.angular_target_replan_threshold = 1e-4; + speedl_config.linear_reverse_cos_threshold = -0.8660254037844386; + speedl_config.linear_reverse_switch_speed_threshold = 1e-3; + // speedl_config.qdot_measurement_lowpass_alpha = 0.5; + if (!solver.configureSpeedL(speedl_config)) { + fail("speedL test: configureSpeedL() failed"); + return; + } + + std::vector> q_traj; + std::vector t_traj; + std::vector> twist_cmd_traj; + std::vector tcp_pos_traj; + std::vector tcp_vel_traj; + std::vector tcp_omega_traj; + + const size_t reserve_count = + static_cast(std::ceil((total_time + settle_time) / dt)) + 8; + q_traj.reserve(reserve_count); + t_traj.reserve(reserve_count); + twist_cmd_traj.reserve(reserve_count); + tcp_pos_traj.reserve(reserve_count); + tcp_vel_traj.reserve(reserve_count); + tcp_omega_traj.reserve(reserve_count); + + auto record_sample = [&](double t_sample, + const std::vector& q_sample) -> bool { + q_traj.push_back(q_sample); + t_traj.push_back(t_sample); + twist_cmd_traj.push_back(solver.getSpeedLCommandTwistBase()); + const auto twist_exec = solver.getSpeedLExecutedTwistBase(); + + Eigen::Vector3d tcp_pos = Eigen::Vector3d::Zero(); + Eigen::Vector3d tcp_vel = Eigen::Vector3d::Zero(); + Eigen::Vector3d tcp_omega = Eigen::Vector3d::Zero(); + if (!viewer.getTcpTwistState(tcp_pos, tcp_vel, tcp_omega)) { + fail("speedL test: failed to read TCP state from MuJoCo"); + return false; + } + tcp_pos_traj.push_back(tcp_pos); + tcp_vel_traj.push_back(tcp_vel); + tcp_omega_traj.push_back(tcp_omega); + + has_exec_samples = true; + max_exec_linear_yz = std::max(max_exec_linear_yz, + std::hypot(twist_exec[1], twist_exec[2])); + min_exec_vx = std::min(min_exec_vx, twist_exec[0]); + max_exec_vx = std::max(max_exec_vx, twist_exec[0]); + final_exec_linear_speed = twist_exec.head<3>().norm(); + if (t_sample >= segment_time && !saw_negative_after_reverse) { + min_abs_vx_before_reverse = + std::min(min_abs_vx_before_reverse, std::abs(twist_exec[0])); + if (twist_exec[0] < -1e-4) { + saw_negative_after_reverse = true; + } + } + return true; + }; + + const auto t0 = std::chrono::steady_clock::now(); + const size_t active_steps = static_cast(std::ceil(total_time / dt)); + for (size_t i = 0; i < active_steps; ++i) { + const double t = static_cast(i) * dt; + std::this_thread::sleep_until( + t0 + std::chrono::duration_cast( + std::chrono::duration(t))); + + std::vector q_meas; + std::vector qd_meas; + viewer.getJointState(q_meas, qd_meas); + Eigen::Matrix target_twist = + Eigen::Matrix::Zero(); + if (t < segment_time) { + target_twist[5] = -linear_speed_cmd; + } else if (t < 2.0 * segment_time) { + target_twist[5] = linear_speed_cmd; + } else { + target_twist.setZero(); + } + + std::vector qd_cmd; + if (!solver.speedLStep(target_twist, + dt, + q_meas, + qd_cmd, + cmvr::CartesianFrame::Base, + true)) { + viewer.moveJ(q_meas); + fail("speedL test: speedLStep() failed"); + return; + } + + if (q_ref.size() != q_meas.size()) { + q_ref = q_meas; + } + for (size_t j = 0; j < q_ref.size() && j < qd_cmd.size(); ++j) { + q_ref[j] += qd_cmd[j] * dt; + q_ref[j] = std::max(q_meas[j] - max_q_ref_tracking_error, + std::min(q_ref[j], q_meas[j] + max_q_ref_tracking_error)); + } + viewer.moveJ(q_ref); + if (!record_sample(t, q_meas)) { + return; + } + } + + const size_t settle_steps = static_cast(std::ceil(settle_time / dt)); + for (size_t i = 0; i < settle_steps; ++i) { + const double t = total_time + static_cast(i) * dt; + std::this_thread::sleep_until( + t0 + std::chrono::duration_cast( + std::chrono::duration(t))); + + std::vector q_meas; + std::vector qd_meas; + viewer.getJointState(q_meas, qd_meas); + const Eigen::Matrix target_twist = + Eigen::Matrix::Zero(); + + std::vector qd_cmd; + if (!solver.speedLStep(target_twist, + dt, + q_meas, + qd_cmd, + cmvr::CartesianFrame::Base, + true)) { + viewer.moveJ(q_meas); + fail("speedL test: speedLStep() failed during stop phase"); + return; + } + + if (q_ref.size() != q_meas.size()) { + q_ref = q_meas; + } + for (size_t j = 0; j < q_ref.size() && j < qd_cmd.size(); ++j) { + q_ref[j] += qd_cmd[j] * dt; + q_ref[j] = std::max(q_meas[j] - max_q_ref_tracking_error, + std::min(q_ref[j], q_meas[j] + max_q_ref_tracking_error)); + } + viewer.moveJ(q_ref); + if (!record_sample(t, q_meas)) { + return; + } + } + + viewer.moveJ(viewer.getQ()); + + std::cerr << "speedL samples=" << q_traj.size() + << " T=" << (t_traj.empty() ? 0.0 : t_traj.back()) << "s\n"; + + if (!tcp_pos_traj.empty() && + tcp_pos_traj.size() == t_traj.size() && + tcp_vel_traj.size() == t_traj.size() && + tcp_omega_traj.size() == t_traj.size()) { + tcp_time = t_traj; + tcp_position = std::move(tcp_pos_traj); + tcp_velocity = std::move(tcp_vel_traj); + tcp_angular_velocity = std::move(tcp_omega_traj); + cmd_tcp_position.assign(tcp_time.size(), Eigen::Vector3d::Zero()); + cmd_tcp_velocity.assign(tcp_time.size(), Eigen::Vector3d::Zero()); + cmd_tcp_angular_velocity.assign(tcp_time.size(), Eigen::Vector3d::Zero()); + if (!tcp_time.empty() && twist_cmd_traj.size() == tcp_time.size()) { + cmd_tcp_position[0] = tcp_position[0]; + cmd_tcp_velocity[0] = twist_cmd_traj[0].head<3>(); + cmd_tcp_angular_velocity[0] = twist_cmd_traj[0].tail<3>(); + for (size_t i = 1; i < tcp_time.size(); ++i) { + const double dt_sample = std::max(1e-9, tcp_time[i] - tcp_time[i - 1]); + cmd_tcp_velocity[i] = twist_cmd_traj[i].head<3>(); + cmd_tcp_angular_velocity[i] = twist_cmd_traj[i].tail<3>(); + cmd_tcp_position[i] = cmd_tcp_position[i - 1] + + 0.5 * (cmd_tcp_velocity[i - 1] + + cmd_tcp_velocity[i]) * dt_sample; + } + } + tcp_trace_ok = true; + } else { + std::cerr << "failed to collect TCP state from MuJoCo\n"; + } + + std::cerr << "speedL exec stats: max|vyz|=" << max_exec_linear_yz + << " max_vx=" << max_exec_vx + << " min_vx=" << min_exec_vx << "\n"; + + std::cerr << "speedL finished in MuJoCo.\n"; + }); + + viewer.run(); + ctrl_thread.join(); + if (tcp_trace_ok && + !tcp_time.empty() && + tcp_position.size() == tcp_time.size() && + tcp_velocity.size() == tcp_time.size() && + tcp_angular_velocity.size() == tcp_time.size() && + cmd_tcp_angular_velocity.size() == tcp_time.size()) { + std::vector tcp_x; + std::vector tcp_y; + std::vector tcp_z; + std::vector tcp_vx; + std::vector tcp_vy; + std::vector tcp_vz; + std::vector tcp_wx; + std::vector tcp_wy; + std::vector tcp_wz; + std::vector tcp_speed; + std::vector cmd_x; + std::vector cmd_y; + std::vector cmd_z; + std::vector cmd_vx; + std::vector cmd_vy; + std::vector cmd_vz; + std::vector cmd_wx; + std::vector cmd_wy; + std::vector cmd_wz; + std::vector cmd_speed; + tcp_x.reserve(tcp_time.size()); + tcp_y.reserve(tcp_time.size()); + tcp_z.reserve(tcp_time.size()); + tcp_vx.reserve(tcp_time.size()); + tcp_vy.reserve(tcp_time.size()); + tcp_vz.reserve(tcp_time.size()); + tcp_wx.reserve(tcp_time.size()); + tcp_wy.reserve(tcp_time.size()); + tcp_wz.reserve(tcp_time.size()); + tcp_speed.reserve(tcp_time.size()); + cmd_x.reserve(tcp_time.size()); + cmd_y.reserve(tcp_time.size()); + cmd_z.reserve(tcp_time.size()); + cmd_vx.reserve(tcp_time.size()); + cmd_vy.reserve(tcp_time.size()); + cmd_vz.reserve(tcp_time.size()); + cmd_wx.reserve(tcp_time.size()); + cmd_wy.reserve(tcp_time.size()); + cmd_wz.reserve(tcp_time.size()); + cmd_speed.reserve(tcp_time.size()); + for (size_t i = 0; i < tcp_time.size(); ++i) { + tcp_x.push_back(tcp_position[i].x()); + tcp_y.push_back(tcp_position[i].y()); + tcp_z.push_back(tcp_position[i].z()); + tcp_vx.push_back(tcp_velocity[i].x()); + tcp_vy.push_back(tcp_velocity[i].y()); + tcp_vz.push_back(tcp_velocity[i].z()); + tcp_wx.push_back(tcp_angular_velocity[i].x()); + tcp_wy.push_back(tcp_angular_velocity[i].y()); + tcp_wz.push_back(tcp_angular_velocity[i].z()); + tcp_speed.push_back(tcp_velocity[i].norm()); + cmd_x.push_back(cmd_tcp_position[i].x()); + cmd_y.push_back(cmd_tcp_position[i].y()); + cmd_z.push_back(cmd_tcp_position[i].z()); + cmd_vx.push_back(cmd_tcp_velocity[i].x()); + cmd_vy.push_back(cmd_tcp_velocity[i].y()); + cmd_vz.push_back(cmd_tcp_velocity[i].z()); + cmd_wx.push_back(cmd_tcp_angular_velocity[i].x()); + cmd_wy.push_back(cmd_tcp_angular_velocity[i].y()); + cmd_wz.push_back(cmd_tcp_angular_velocity[i].z()); + cmd_speed.push_back(cmd_tcp_velocity[i].norm()); + } + + using namespace matplot; + auto fig = figure(true); + fig->size(1600, 1450); + fig->font_size(16); + + auto ax_pos = subplot(fig, std::array{0.08f, 0.75f, 0.88f, 0.17f}); + hold(ax_pos, on); + auto line_x = plot(ax_pos, tcp_time, tcp_x); + line_x->line_width(2.0); + line_x->display_name("tcp x"); + auto line_y = plot(ax_pos, tcp_time, tcp_y); + line_y->line_width(2.0); + line_y->display_name("tcp y"); + auto line_z = plot(ax_pos, tcp_time, tcp_z); + line_z->line_width(2.0); + line_z->display_name("tcp z"); + auto cmd_line_x = plot(ax_pos, tcp_time, cmd_x); + cmd_line_x->line_width(2.0); + cmd_line_x->line_style("--"); + cmd_line_x->display_name("cmd x"); + auto cmd_line_y = plot(ax_pos, tcp_time, cmd_y); + cmd_line_y->line_width(2.0); + cmd_line_y->line_style("--"); + cmd_line_y->display_name("cmd y"); + auto cmd_line_z = plot(ax_pos, tcp_time, cmd_z); + cmd_line_z->line_width(2.0); + cmd_line_z->line_style("--"); + cmd_line_z->display_name("cmd z"); + title(ax_pos, "TCP Position"); + xlabel(ax_pos, "time [s]"); + ylabel(ax_pos, "position [m]"); + legend(ax_pos, std::vector{"tcp x", "tcp y", "tcp z", "cmd x", "cmd y", "cmd z"}); + grid(ax_pos, on); + + auto ax_vel = subplot(fig, std::array{0.08f, 0.52f, 0.88f, 0.17f}); + hold(ax_vel, on); + auto line_vx = plot(ax_vel, tcp_time, tcp_vx); + line_vx->line_width(2.0); + line_vx->display_name("tcp vx"); + auto line_vy = plot(ax_vel, tcp_time, tcp_vy); + line_vy->line_width(2.0); + line_vy->display_name("tcp vy"); + auto line_vz = plot(ax_vel, tcp_time, tcp_vz); + line_vz->line_width(2.0); + line_vz->display_name("tcp vz"); + auto cmd_line_vx = plot(ax_vel, tcp_time, cmd_vx); + cmd_line_vx->line_width(2.0); + cmd_line_vx->line_style("--"); + cmd_line_vx->display_name("cmd vx"); + auto cmd_line_vy = plot(ax_vel, tcp_time, cmd_vy); + cmd_line_vy->line_width(2.0); + cmd_line_vy->line_style("--"); + cmd_line_vy->display_name("cmd vy"); + auto cmd_line_vz = plot(ax_vel, tcp_time, cmd_vz); + cmd_line_vz->line_width(2.0); + cmd_line_vz->line_style("--"); + cmd_line_vz->display_name("cmd vz"); + title(ax_vel, "TCP Velocity"); + xlabel(ax_vel, "time [s]"); + ylabel(ax_vel, "velocity [m/s]"); + legend(ax_vel, std::vector{"tcp vx", "tcp vy", "tcp vz", "cmd vx", "cmd vy", "cmd vz"}); + grid(ax_vel, on); + + auto ax_ang = subplot(fig, std::array{0.08f, 0.29f, 0.88f, 0.17f}); + hold(ax_ang, on); + auto line_wx = plot(ax_ang, tcp_time, tcp_wx); + line_wx->line_width(2.0); + line_wx->display_name("tcp wx"); + auto line_wy = plot(ax_ang, tcp_time, tcp_wy); + line_wy->line_width(2.0); + line_wy->display_name("tcp wy"); + auto line_wz = plot(ax_ang, tcp_time, tcp_wz); + line_wz->line_width(2.0); + line_wz->display_name("tcp wz"); + auto cmd_line_wx = plot(ax_ang, tcp_time, cmd_wx); + cmd_line_wx->line_width(2.0); + cmd_line_wx->line_style("--"); + cmd_line_wx->display_name("cmd wx"); + auto cmd_line_wy = plot(ax_ang, tcp_time, cmd_wy); + cmd_line_wy->line_width(2.0); + cmd_line_wy->line_style("--"); + cmd_line_wy->display_name("cmd wy"); + auto cmd_line_wz = plot(ax_ang, tcp_time, cmd_wz); + cmd_line_wz->line_width(2.0); + cmd_line_wz->line_style("--"); + cmd_line_wz->display_name("cmd wz"); + title(ax_ang, "TCP Angular Velocity"); + xlabel(ax_ang, "time [s]"); + ylabel(ax_ang, "omega [rad/s]"); + legend(ax_ang, std::vector{"tcp wx", "tcp wy", "tcp wz", "cmd wx", "cmd wy", "cmd wz"}); + grid(ax_ang, on); + + auto ax_speed = subplot(fig, std::array{0.08f, 0.06f, 0.88f, 0.17f}); + hold(ax_speed, on); + auto line_speed = plot(ax_speed, tcp_time, tcp_speed); + line_speed->line_width(2.0); + line_speed->display_name("speed norm"); + auto cmd_line_speed = plot(ax_speed, tcp_time, cmd_speed); + cmd_line_speed->line_width(2.0); + cmd_line_speed->line_style("--"); + cmd_line_speed->display_name("cmd speed norm"); + title(ax_speed, "TCP Speed Norm"); + xlabel(ax_speed, "time [s]"); + ylabel(ax_speed, "speed [m/s]"); + legend(ax_speed, std::vector{"speed norm", "cmd speed norm"}); + grid(ax_speed, on); + + show(fig); + } + + ASSERT_TRUE(ctrl_ok) << failure_msg; + ASSERT_TRUE(has_exec_samples) << "speedL test did not record any executed twist sample"; + ASSERT_TRUE(tcp_trace_ok) << "speedL test failed to build TCP trace"; + EXPECT_GT(max_exec_vx, 0.03) << "speedL never accelerated to a meaningful +X command"; + EXPECT_LT(min_exec_vx, -0.03) << "speedL never switched to a meaningful -X command"; + EXPECT_LT(max_exec_linear_yz, 1e-3) << "speedL introduced unintended lateral linear twist"; + ASSERT_TRUE(std::isfinite(min_abs_vx_before_reverse)) + << "speedL never reached the reverse phase"; + EXPECT_LT(min_abs_vx_before_reverse, 0.01) + << "speedL changed sign before decelerating close enough to zero"; + EXPECT_LT(final_exec_linear_speed, 0.02) + << "speedL did not settle close enough to zero during stop phase"; +} diff --git a/cmvr-es/planner/CMakeLists.txt b/cmvr-es/planner/CMakeLists.txt index 3eb13754..65a400c5 100644 --- a/cmvr-es/planner/CMakeLists.txt +++ b/cmvr-es/planner/CMakeLists.txt @@ -1,8 +1,13 @@ + add_library(planner STATIC joint_space_planner/src/joint_space_planner.cpp joint_space_planner/src/joint_space_planner_creator.cpp - joint_space_planner/src/toppra_bspline.cpp + joint_space_planner/src/toppra_bspline.cpp + + s_curve_planner/src/s_curve_position_planner.cpp + s_curve_planner/src/s_curve_velocity_planner.cpp + cartesian_space_planner/src/cartesian_twist_limiter.cpp ) target_include_directories(planner PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) @@ -12,6 +17,7 @@ target_link_libraries(planner PUBLIC tinyxml2 fcl toppra + cmvr_es::common ) add_library(cmvr_es::planner ALIAS planner) @@ -46,4 +52,17 @@ target_link_libraries(joint_space_planner_test ) +add_executable(cartesian_twist_limiter_test + ${CMAKE_CURRENT_SOURCE_DIR}/cartesian_space_planner/src/cartesian_twist_limiter_test.cpp +) +target_link_libraries(cartesian_twist_limiter_test + PRIVATE + cmvr_es::planner + gtest + gtest_main + pthread + glog + cmvr_es::proto + matplot +) diff --git a/cmvr-es/planner/cartesian_space_planner/include/cartesian_twist_limiter.h b/cmvr-es/planner/cartesian_space_planner/include/cartesian_twist_limiter.h new file mode 100644 index 00000000..c62bdeea --- /dev/null +++ b/cmvr-es/planner/cartesian_space_planner/include/cartesian_twist_limiter.h @@ -0,0 +1,242 @@ +#pragma once + +#include +#include +#include "planner/s_curve_planner/include/s_curve_velocity_planner.h" +namespace cmvr +{ + +enum class CartesianFrame +{ + Base = 0, + Tool = 1 +}; + +/** + * @brief 6维末端 twist 在线限幅器（基于 SCurveVelocityPlanner1D） + * + * 线速度部分： + * - 模长使用 SCurveVelocityPlanner1D 做 jerk-limited 速度规划 + * - 运动中锁定当前方向，不做方向插值 + * - 若目标方向与当前方向不共线，则采用“先减速到0，再切方向”的 switch policy + * + * 角速度部分： + * - 与线速度独立 + * - 模长使用 SCurveVelocityPlanner1D 做 jerk-limited 速度规划 + * - 运动中锁定当前旋转轴，不做方向插值 + * + * 接口语义： + * - setTargetTwist(...)：设置目标 twist + * - synchronizeToMeasuredTwistBase(...)：用测量 twist 同步当前状态 + * - update(dt, base_R_tool)：根据当前目标与当前状态生成下一拍命令 twist + */ +class CartesianTwistLimiter +{ +public: + using Twist = Eigen::Matrix; + + CartesianTwistLimiter(); + + void setLinearConstraints(double max_velocity, + double max_acceleration, + double max_jerk); + + void setAngularConstraints(double max_velocity, + double max_acceleration, + double max_jerk); + + void setLinearTargetReplanThreshold(double threshold); + void setAngularTargetReplanThreshold(double threshold); + + /** + * @brief 设置线速度方向最大转动角速度（rad/s） + */ + void setLinearDirectionRateLimit(double max_rate_rad_s); + + /** + * @brief 设置角速度方向最大转动角速度（rad/s） + */ + void setAngularDirectionRateLimit(double max_rate_rad_s); + + /** + * @brief 设置线速度反向切换策略 + * + * @param cos_threshold 近反向判定阈值，范围 [-1, 1] + * @param switch_speed_threshold 线速度模长低于该阈值后，允许切到目标方向 + */ + void setLinearReverseSwitchPolicy(double cos_threshold, + double switch_speed_threshold); + + /** + * @brief 初始化当前 twist 状态 + * + * 注意： + * - 初始 twist 视为 base 坐标系下 + */ + void initialize(const Twist& initial_twist = Twist::Zero()); + + void reset(); + + /** + * @brief 设置目标 twist + * + * @param target_twist 目标 twist + * @param frame 输入目标的坐标系（Base 或 Tool） + */ + void setTargetTwist(const Twist& target_twist, CartesianFrame frame); + + /** + * @brief 平滑停下 + */ + void stop(); + + /** + * @brief 急停 + * + * 使用更大的减速度/jerk 约束把当前线速度/角速度平滑拉回 0。 + * 当前运动停止后，会自动恢复到常规约束。 + * + * @param emergency_acceleration 急停减速度幅值 + * @param emergency_jerk 急停 jerk 幅值 + */ + void emergencyStop(double emergency_acceleration, + double emergency_jerk); + + /** + * @brief 急停（分别指定线速度/角速度减速度与 jerk） + * + * @param emergency_linear_acceleration 线速度急停减速度幅值 + * @param emergency_linear_jerk 线速度急停 jerk 幅值 + * @param emergency_angular_acceleration 角速度急停减速度幅值 + * @param emergency_angular_jerk 角速度急停 jerk 幅值 + */ + void emergencyStop(double emergency_linear_acceleration, + double emergency_linear_jerk, + double emergency_angular_acceleration, + double emergency_angular_jerk); + + /** + * @brief 用测得的 base-frame twist 同步当前状态 + * + * 作用： + * - 更新当前执行方向 + * - 用测得模长与模长加速度同步两个 planner + * - keep_target=true 时： + * - 若测量状态仍贴着当前 profile，则保持当前 profile + * - 否则由 planner 内部从测量状态重规划到当前目标 + * - keep_target=false 时： + * - 清掉旧 profile，仅覆盖状态 + * + * @param measured_twist_base 当前测得实际 twist（base 系） + * @param dt 与上一次测量同步的时间间隔 + * @param keep_target 是否保留当前目标模长 + */ + void synchronize(const Twist& measured_twist_base, + double dt, + bool keep_target = true); + + /** + * @brief 更新一步，返回 base 坐标系下的执行 twist 命令 + */ + Twist update(double dt, const Eigen::Matrix3d& base_R_tool); + + const Twist& getTwistBase() const { return twist_base_; } + const Twist& getCommandedTwistBase() const { return twist_base_; } + const Twist& getTargetTwistBase() const { return target_twist_base_; } + const Twist& getAccelerationBase() const { return acceleration_base_; } + const Twist& getJerkBase() const { return jerk_base_; } + + bool isMoving() const; + +private: + static constexpr double EPSILON = 1e-12; + static constexpr double DEFAULT_LINEAR_DIR_RATE_LIMIT = 3.14159265358979323846; // 180 deg/s + static constexpr double DEFAULT_ANGULAR_DIR_RATE_LIMIT = 3.14159265358979323846; // 180 deg/s + static constexpr double DEFAULT_LINEAR_REVERSE_COS_THRESHOLD = -0.8660254037844386; // cos(150 deg) + static constexpr double DEFAULT_LINEAR_REVERSE_SWITCH_SPEED_THRESHOLD = 1e-3; + static constexpr double AXIS_LOCK_COS_THRESHOLD = 0.999; + static constexpr double DEFAULT_ANGULAR_SWITCH_SPEED_THRESHOLD = 1e-3; + + // 模长 planner + SCurveVelocityPlanner1D linear_norm_planner_; + SCurveVelocityPlanner1D angular_norm_planner_; + + // 常规约束缓存。急停结束后恢复到这里。 + double linear_max_velocity_; + double linear_max_acceleration_; + double linear_max_jerk_; + double angular_max_velocity_; + double angular_max_acceleration_; + double angular_max_jerk_; + + // 方向变化率限制（rad/s） + double linear_direction_rate_limit_; + double angular_direction_rate_limit_; + + // 线速度 reverse policy + double linear_reverse_cos_threshold_; + double linear_reverse_switch_speed_threshold_; + double angular_switch_speed_threshold_; + bool emergency_stop_active_; + + // 目标/当前状态 + Twist target_twist_input_; + Twist target_twist_base_; + + Twist twist_base_; + Twist acceleration_base_; + Twist jerk_base_; + + Twist prev_twist_base_; + Twist prev_acceleration_base_; + + CartesianFrame input_frame_; + + // 当前执行方向 + Eigen::Vector3d current_linear_dir_base_; + Eigen::Vector3d current_angular_dir_base_; + + // 最近一次非零目标方向（目标变0时用于平滑停下） + Eigen::Vector3d last_target_linear_dir_base_; + Eigen::Vector3d last_target_angular_dir_base_; + + // 测量同步用缓存 + bool has_measured_sync_; + Twist last_measured_twist_base_; + Twist last_measured_acceleration_base_; + double prev_measured_linear_norm_; + double prev_measured_angular_norm_; + + static Twist transformTwistToolToBase(const Twist& twist_tool, + const Eigen::Matrix3d& base_R_tool); + + static Eigen::Vector3d chooseDirection(const Eigen::Vector3d& target_vec, + const Eigen::Vector3d& fallback); + + static Eigen::Vector3d rotateDirectionToward(const Eigen::Vector3d& current_dir, + const Eigen::Vector3d& target_dir, + double max_rate_rad_s, + double dt); + + static Eigen::Vector3d rotateAroundAxis(const Eigen::Vector3d& v, + const Eigen::Vector3d& axis_unit, + double angle_rad); + + static Eigen::Vector3d chooseOrthogonalUnit(const Eigen::Vector3d& v); + + void applyLinearConstraints(double max_velocity, + double max_acceleration, + double max_jerk); + void applyAngularConstraints(double max_velocity, + double max_acceleration, + double max_jerk); + void restoreNominalConstraints(); + static bool isZeroTwist(const Twist& twist); + + static double clamp(double value, double lo, double hi) + { + return std::max(lo, std::min(hi, value)); + } +}; + +} // namespace cmvr diff --git a/cmvr-es/planner/cartesian_space_planner/src/cartesian_twist_limiter.cpp b/cmvr-es/planner/cartesian_space_planner/src/cartesian_twist_limiter.cpp new file mode 100644 index 00000000..a4ecf10b --- /dev/null +++ b/cmvr-es/planner/cartesian_space_planner/src/cartesian_twist_limiter.cpp @@ -0,0 +1,537 @@ +#include "../include/cartesian_twist_limiter.h" + +#include +#include + +namespace cmvr +{ + +CartesianTwistLimiter::CartesianTwistLimiter() + : linear_norm_planner_(1.0, 1.0, 5.0) + , angular_norm_planner_(1.0, 1.0, 5.0) + , linear_max_velocity_(1.0) + , linear_max_acceleration_(1.0) + , linear_max_jerk_(5.0) + , angular_max_velocity_(1.0) + , angular_max_acceleration_(1.0) + , angular_max_jerk_(5.0) + , linear_direction_rate_limit_(DEFAULT_LINEAR_DIR_RATE_LIMIT) + , angular_direction_rate_limit_(DEFAULT_ANGULAR_DIR_RATE_LIMIT) + , linear_reverse_cos_threshold_(DEFAULT_LINEAR_REVERSE_COS_THRESHOLD) + , linear_reverse_switch_speed_threshold_(DEFAULT_LINEAR_REVERSE_SWITCH_SPEED_THRESHOLD) + , angular_switch_speed_threshold_(DEFAULT_ANGULAR_SWITCH_SPEED_THRESHOLD) + , emergency_stop_active_(false) + , target_twist_input_(Twist::Zero()) + , target_twist_base_(Twist::Zero()) + , twist_base_(Twist::Zero()) + , acceleration_base_(Twist::Zero()) + , jerk_base_(Twist::Zero()) + , prev_twist_base_(Twist::Zero()) + , prev_acceleration_base_(Twist::Zero()) + , input_frame_(CartesianFrame::Base) + , current_linear_dir_base_(Eigen::Vector3d::Zero()) + , current_angular_dir_base_(Eigen::Vector3d::Zero()) + , last_target_linear_dir_base_(Eigen::Vector3d::Zero()) + , last_target_angular_dir_base_(Eigen::Vector3d::Zero()) + , has_measured_sync_(false) + , last_measured_twist_base_(Twist::Zero()) + , last_measured_acceleration_base_(Twist::Zero()) + , prev_measured_linear_norm_(0.0) + , prev_measured_angular_norm_(0.0) +{ +} + +void CartesianTwistLimiter::applyLinearConstraints(double max_velocity, + double max_acceleration, + double max_jerk) +{ + linear_norm_planner_.setConstraints(max_velocity, max_acceleration, max_jerk); +} + +void CartesianTwistLimiter::applyAngularConstraints(double max_velocity, + double max_acceleration, + double max_jerk) +{ + angular_norm_planner_.setConstraints(max_velocity, max_acceleration, max_jerk); +} + +void CartesianTwistLimiter::setLinearConstraints(double max_velocity, + double max_acceleration, + double max_jerk) +{ + linear_max_velocity_ = std::abs(max_velocity); + linear_max_acceleration_ = std::abs(max_acceleration); + linear_max_jerk_ = std::abs(max_jerk); + + if (!emergency_stop_active_) { + applyLinearConstraints(linear_max_velocity_, linear_max_acceleration_, linear_max_jerk_); + } +} + +void CartesianTwistLimiter::setAngularConstraints(double max_velocity, + double max_acceleration, + double max_jerk) +{ + angular_max_velocity_ = std::abs(max_velocity); + angular_max_acceleration_ = std::abs(max_acceleration); + angular_max_jerk_ = std::abs(max_jerk); + + if (!emergency_stop_active_) { + applyAngularConstraints(angular_max_velocity_, angular_max_acceleration_, angular_max_jerk_); + } +} + +void CartesianTwistLimiter::setLinearTargetReplanThreshold(double threshold) +{ + linear_norm_planner_.setTargetReplanThreshold(threshold); +} + +void CartesianTwistLimiter::setAngularTargetReplanThreshold(double threshold) +{ + angular_norm_planner_.setTargetReplanThreshold(threshold); +} + +void CartesianTwistLimiter::setLinearDirectionRateLimit(double max_rate_rad_s) +{ + linear_direction_rate_limit_ = std::max(0.0, max_rate_rad_s); +} + +void CartesianTwistLimiter::setAngularDirectionRateLimit(double max_rate_rad_s) +{ + angular_direction_rate_limit_ = std::max(0.0, max_rate_rad_s); +} + +void CartesianTwistLimiter::setLinearReverseSwitchPolicy(double cos_threshold, + double switch_speed_threshold) +{ + linear_reverse_cos_threshold_ = clamp(cos_threshold, -1.0, 1.0); + linear_reverse_switch_speed_threshold_ = std::max(0.0, switch_speed_threshold); +} + +void CartesianTwistLimiter::initialize(const Twist& initial_twist) +{ + restoreNominalConstraints(); + emergency_stop_active_ = false; + + const Eigen::Vector3d v0 = initial_twist.head<3>(); + const Eigen::Vector3d w0 = initial_twist.tail<3>(); + + const double v0_norm = v0.norm(); + const double w0_norm = w0.norm(); + + linear_norm_planner_.initialize(v0_norm, 0.0); + angular_norm_planner_.initialize(w0_norm, 0.0); + + target_twist_input_ = initial_twist; + target_twist_base_ = initial_twist; + twist_base_ = initial_twist; + acceleration_base_.setZero(); + jerk_base_.setZero(); + prev_twist_base_ = initial_twist; + prev_acceleration_base_.setZero(); + + // current_linear_dir_base_ = + // (v0_norm > EPSILON) ? (v0 / v0_norm) : Eigen::Vector3d::Zero(); + // current_angular_dir_base_ = + // (w0_norm > EPSILON) ? (w0 / w0_norm) : Eigen::Vector3d::Zero(); + current_linear_dir_base_.setZero(); + current_angular_dir_base_.setZero(); + if (v0_norm > EPSILON) { + current_linear_dir_base_ = v0 / v0_norm; + } else { + + } + + if (w0_norm > EPSILON) { + current_angular_dir_base_ = w0 / w0_norm; + } else { + + } + + last_target_linear_dir_base_ = current_linear_dir_base_; + last_target_angular_dir_base_ = current_angular_dir_base_; + + has_measured_sync_ = false; + last_measured_twist_base_ = initial_twist; + last_measured_acceleration_base_.setZero(); + prev_measured_linear_norm_ = v0_norm; + prev_measured_angular_norm_ = w0_norm; +} + +void CartesianTwistLimiter::reset() +{ + restoreNominalConstraints(); + emergency_stop_active_ = false; + + linear_norm_planner_.reset(); + angular_norm_planner_.reset(); + + target_twist_input_.setZero(); + target_twist_base_.setZero(); + twist_base_.setZero(); + acceleration_base_.setZero(); + jerk_base_.setZero(); + prev_twist_base_.setZero(); + prev_acceleration_base_.setZero(); + + input_frame_ = CartesianFrame::Base; + + current_linear_dir_base_.setZero(); + current_angular_dir_base_.setZero(); + last_target_linear_dir_base_.setZero(); + last_target_angular_dir_base_.setZero(); + + has_measured_sync_ = false; + last_measured_twist_base_.setZero(); + last_measured_acceleration_base_.setZero(); + prev_measured_linear_norm_ = 0.0; + prev_measured_angular_norm_ = 0.0; +} + +void CartesianTwistLimiter::setTargetTwist(const Twist& target_twist, CartesianFrame frame) +{ + if (emergency_stop_active_ && !isZeroTwist(target_twist)) { + restoreNominalConstraints(); + emergency_stop_active_ = false; + } + + target_twist_input_ = target_twist; + input_frame_ = frame; +} + +void CartesianTwistLimiter::stop() +{ + target_twist_input_.setZero(); +} + +void CartesianTwistLimiter::emergencyStop(double emergency_acceleration, + double emergency_jerk) +{ + emergencyStop(emergency_acceleration, + emergency_jerk, + emergency_acceleration, + emergency_jerk); +} + +void CartesianTwistLimiter::emergencyStop(double emergency_linear_acceleration, + double emergency_linear_jerk, + double emergency_angular_acceleration, + double emergency_angular_jerk) +{ + const double linear_stop_acceleration = + std::max(std::abs(emergency_linear_acceleration), linear_max_acceleration_); + const double linear_stop_jerk = + std::max(std::abs(emergency_linear_jerk), linear_max_jerk_); + const double angular_stop_acceleration = + std::max(std::abs(emergency_angular_acceleration), angular_max_acceleration_); + const double angular_stop_jerk = + std::max(std::abs(emergency_angular_jerk), angular_max_jerk_); + + applyLinearConstraints(linear_max_velocity_, linear_stop_acceleration, linear_stop_jerk); + applyAngularConstraints(angular_max_velocity_, angular_stop_acceleration, angular_stop_jerk); + + emergency_stop_active_ = true; + target_twist_input_.setZero(); + target_twist_base_.setZero(); + linear_norm_planner_.setTargetVelocity(0.0); + angular_norm_planner_.setTargetVelocity(0.0); +} + +void CartesianTwistLimiter::synchronize(const Twist& measured_twist_base, + double dt, + bool keep_target) +{ + const Eigen::Vector3d v_meas = measured_twist_base.head<3>(); + const Eigen::Vector3d w_meas = measured_twist_base.tail<3>(); + + const double v_norm = v_meas.norm(); + const double w_norm = w_meas.norm(); + + double v_acc = 0.0; + double w_acc = 0.0; + + if (dt > EPSILON && has_measured_sync_) { + v_acc = (v_norm - prev_measured_linear_norm_) / dt; + w_acc = (w_norm - prev_measured_angular_norm_) / dt; + + acceleration_base_ = (measured_twist_base - last_measured_twist_base_) / dt; + jerk_base_ = (acceleration_base_ - last_measured_acceleration_base_) / dt; + last_measured_acceleration_base_ = acceleration_base_; + } else { + acceleration_base_.setZero(); + jerk_base_.setZero(); + last_measured_acceleration_base_.setZero(); + } + + prev_measured_linear_norm_ = v_norm; + prev_measured_angular_norm_ = w_norm; + last_measured_twist_base_ = measured_twist_base; + has_measured_sync_ = true; + + // 用测得模长/模长加速度同步 planner 当前状态。 + // keep_target=true: + // - 若测量值仍贴着当前 profile，则继续沿旧 profile 走 + // - 否则从测量状态重规划到当前目标 + // keep_target=false: + // - 仅覆盖状态并清掉旧 profile，不保留当前目标 + if (keep_target) { + linear_norm_planner_.synchronizeAndReplan(v_norm, v_acc); + angular_norm_planner_.synchronizeAndReplan(w_norm, w_acc); + } else { + linear_norm_planner_.overwriteState(v_norm, v_acc, false); + angular_norm_planner_.overwriteState(w_norm, w_acc, false); + target_twist_input_.setZero(); + target_twist_base_.setZero(); + } + + if (v_norm > EPSILON) { + current_linear_dir_base_ = v_meas / v_norm; + last_target_linear_dir_base_ = current_linear_dir_base_; + } + + if (w_norm > EPSILON) { + current_angular_dir_base_ = w_meas / w_norm; + last_target_angular_dir_base_ = current_angular_dir_base_; + } + + twist_base_ = measured_twist_base; + prev_twist_base_ = measured_twist_base; + prev_acceleration_base_ = acceleration_base_; +} + +CartesianTwistLimiter::Twist +CartesianTwistLimiter::transformTwistToolToBase(const Twist& twist_tool, + const Eigen::Matrix3d& base_R_tool) +{ + Twist twist_base; + twist_base.head<3>() = base_R_tool * twist_tool.head<3>(); + twist_base.tail<3>() = base_R_tool * twist_tool.tail<3>(); + return twist_base; +} + +Eigen::Vector3d CartesianTwistLimiter::chooseDirection(const Eigen::Vector3d& target_vec, + const Eigen::Vector3d& fallback) +{ + const double n = target_vec.norm(); + if (n > EPSILON) { + return target_vec / n; + } + return fallback; +} + +Eigen::Vector3d CartesianTwistLimiter::rotateAroundAxis(const Eigen::Vector3d& v, + const Eigen::Vector3d& axis_unit, + double angle_rad) +{ + const double c = std::cos(angle_rad); + const double s = std::sin(angle_rad); + return c * v + s * (axis_unit.cross(v)) + (1.0 - c) * axis_unit.dot(v) * axis_unit; +} + +Eigen::Vector3d CartesianTwistLimiter::chooseOrthogonalUnit(const Eigen::Vector3d& v) +{ + Eigen::Vector3d ref; + if (std::abs(v.x()) < 0.8) { + ref = Eigen::Vector3d::UnitX(); + } else if (std::abs(v.y()) < 0.8) { + ref = Eigen::Vector3d::UnitY(); + } else { + ref = Eigen::Vector3d::UnitZ(); + } + + Eigen::Vector3d ortho = ref - ref.dot(v) * v; + const double n = ortho.norm(); + if (n > EPSILON) { + return ortho / n; + } + return Eigen::Vector3d::UnitX(); +} + +void CartesianTwistLimiter::restoreNominalConstraints() +{ + applyLinearConstraints(linear_max_velocity_, linear_max_acceleration_, linear_max_jerk_); + applyAngularConstraints(angular_max_velocity_, angular_max_acceleration_, angular_max_jerk_); +} + +bool CartesianTwistLimiter::isZeroTwist(const Twist& twist) +{ + return twist.head<3>().squaredNorm() <= EPSILON && twist.tail<3>().squaredNorm() <= EPSILON; +} + +Eigen::Vector3d CartesianTwistLimiter::rotateDirectionToward(const Eigen::Vector3d& current_dir, + const Eigen::Vector3d& target_dir, + double max_rate_rad_s, + double dt) +{ + if (dt <= 0.0) { + return current_dir; + } + + const double cur_n = current_dir.norm(); + const double tgt_n = target_dir.norm(); + + if (tgt_n <= EPSILON) { + return current_dir; + } + if (cur_n <= EPSILON) { + return target_dir; + } + + const Eigen::Vector3d u = current_dir / cur_n; + const Eigen::Vector3d v = target_dir / tgt_n; + + const double dot_uv = clamp(u.dot(v), -1.0, 1.0); + const double angle = std::acos(dot_uv); + + if (angle <= 1e-9) { + return v; + } + + const double max_step = std::max(0.0, max_rate_rad_s) * dt; + if (max_step <= 0.0) { + return u; + } + if (angle <= max_step) { + return v; + } + + Eigen::Vector3d axis = u.cross(v); + const double axis_n = axis.norm(); + + if (axis_n > EPSILON) { + axis /= axis_n; + return rotateAroundAxis(u, axis, max_step).normalized(); + } + + if (dot_uv > 0.0) { + return v; + } + + const Eigen::Vector3d ortho_axis = chooseOrthogonalUnit(u); + return rotateAroundAxis(u, ortho_axis, max_step).normalized(); +} + +CartesianTwistLimiter::Twist +CartesianTwistLimiter::update(double dt, const Eigen::Matrix3d& base_R_tool) +{ + if (emergency_stop_active_ && isZeroTwist(target_twist_input_) && + !linear_norm_planner_.isMoving() && !angular_norm_planner_.isMoving()) { + restoreNominalConstraints(); + emergency_stop_active_ = false; + } + + if (input_frame_ == CartesianFrame::Base) { + target_twist_base_ = target_twist_input_; + } else { + target_twist_base_ = transformTwistToolToBase(target_twist_input_, base_R_tool); + } + + // ==================== 线速度：方向锁定 + 标量 planner ==================== + const Eigen::Vector3d v_des = target_twist_base_.head<3>(); + const double v_des_norm = v_des.norm(); + const Eigen::Vector3d v_target_dir = + chooseDirection(v_des, + current_linear_dir_base_.norm() > EPSILON + ? current_linear_dir_base_ + : last_target_linear_dir_base_); + + if (v_des_norm > EPSILON) { + last_target_linear_dir_base_ = v_target_dir; + } + + const double v_cur_norm = linear_norm_planner_.getVelocity(); + const bool has_current_linear_dir = current_linear_dir_base_.norm() > EPSILON; + if (!has_current_linear_dir) { + if (v_des_norm > EPSILON) { + current_linear_dir_base_ = v_target_dir; + linear_norm_planner_.setTargetVelocity(v_des_norm); + } else { + linear_norm_planner_.setTargetVelocity(0.0); + } + } else if (v_des_norm <= EPSILON) { + linear_norm_planner_.setTargetVelocity(0.0); + } else { + const double dir_dot = + clamp(current_linear_dir_base_.dot(v_target_dir), -1.0, 1.0); + const bool axis_aligned = dir_dot >= AXIS_LOCK_COS_THRESHOLD; + const bool reverse_aligned = dir_dot <= -AXIS_LOCK_COS_THRESHOLD; + const bool same_axis = axis_aligned || reverse_aligned; + const bool must_switch_axis = + !same_axis || dir_dot < linear_reverse_cos_threshold_; + + if (must_switch_axis && v_cur_norm > linear_reverse_switch_speed_threshold_) { + linear_norm_planner_.setTargetVelocity(0.0); + } else { + current_linear_dir_base_ = v_target_dir; + linear_norm_planner_.setTargetVelocity(v_des_norm); + } + } + + const double v_exec_norm = linear_norm_planner_.update(dt); + twist_base_.head<3>() = current_linear_dir_base_ * v_exec_norm; + + // ==================== 角速度：方向锁定 + 标量 planner ==================== + const Eigen::Vector3d w_des = target_twist_base_.tail<3>(); + const double w_des_norm = w_des.norm(); + const Eigen::Vector3d w_target_dir = + chooseDirection(w_des, + current_angular_dir_base_.norm() > EPSILON + ? current_angular_dir_base_ + : last_target_angular_dir_base_); + + if (w_des_norm > EPSILON) { + last_target_angular_dir_base_ = w_target_dir; + } + + const double w_cur_norm = angular_norm_planner_.getVelocity(); + const bool has_current_angular_dir = current_angular_dir_base_.norm() > EPSILON; + if (!has_current_angular_dir) { + if (w_des_norm > EPSILON) { + current_angular_dir_base_ = w_target_dir; + angular_norm_planner_.setTargetVelocity(w_des_norm); + } else { + angular_norm_planner_.setTargetVelocity(0.0); + } + } else if (w_des_norm <= EPSILON) { + angular_norm_planner_.setTargetVelocity(0.0); + } else { + const double dir_dot = + clamp(current_angular_dir_base_.dot(w_target_dir), -1.0, 1.0); + const bool axis_aligned = dir_dot >= AXIS_LOCK_COS_THRESHOLD; + const bool reverse_aligned = dir_dot <= -AXIS_LOCK_COS_THRESHOLD; + const bool same_axis = axis_aligned || reverse_aligned; + // 角速度与线速度一致：反向同轴也必须先减速到 0，再切方向。 + const bool must_switch_axis = !same_axis || reverse_aligned; + + if (must_switch_axis && w_cur_norm > angular_switch_speed_threshold_) { + angular_norm_planner_.setTargetVelocity(0.0); + } else { + current_angular_dir_base_ = w_target_dir; + angular_norm_planner_.setTargetVelocity(w_des_norm); + } + } + + const double w_exec_norm = angular_norm_planner_.update(dt); + twist_base_.tail<3>() = current_angular_dir_base_ * w_exec_norm; + + // ==================== 对最终 twist 做差分得到 acc / jerk ==================== + if (dt > EPSILON) { + acceleration_base_ = (twist_base_ - prev_twist_base_) / dt; + jerk_base_ = (acceleration_base_ - prev_acceleration_base_) / dt; + } else { + acceleration_base_.setZero(); + jerk_base_.setZero(); + } + + prev_twist_base_ = twist_base_; + prev_acceleration_base_ = acceleration_base_; + + return twist_base_; +} + +bool CartesianTwistLimiter::isMoving() const +{ + return linear_norm_planner_.isMoving() || angular_norm_planner_.isMoving(); +} + +} // namespace cmvr diff --git a/cmvr-es/planner/cartesian_space_planner/src/cartesian_twist_limiter_test.cpp b/cmvr-es/planner/cartesian_space_planner/src/cartesian_twist_limiter_test.cpp new file mode 100644 index 00000000..2878a823 --- /dev/null +++ b/cmvr-es/planner/cartesian_space_planner/src/cartesian_twist_limiter_test.cpp @@ -0,0 +1,732 @@ +// +// Created by lgv on 2026/3/10. +// + +#include "gtest/gtest.h" + +#include +#include + +#include "planner/cartesian_space_planner/include/cartesian_twist_limiter.h" + +namespace cmvr +{ +namespace +{ + +using Twist = CartesianTwistLimiter::Twist; + +constexpr double kDt = 0.01; +constexpr double kComponentEps = 1e-8; +constexpr double kDirectionEps = 1e-6; +constexpr double kSwitchSpeedUpperBound = 0.05; + +Twist makeTwist(double vx, double vy, double vz, double wx, double wy, double wz) +{ + Twist twist = Twist::Zero(); + twist << vx, vy, vz, wx, wy, wz; + return twist; +} + +Eigen::Vector3d normalizedOrZero(const Eigen::Vector3d& value) +{ + const double norm = value.norm(); + if (norm <= kComponentEps) { + return Eigen::Vector3d::Zero(); + } + return value / norm; +} + +CartesianTwistLimiter makeLimiter() +{ + CartesianTwistLimiter limiter; + limiter.setLinearConstraints(1.0, 1.0, 5.0); + limiter.setAngularConstraints(1.0, 1.0, 5.0); + limiter.initialize(); + return limiter; +} + +Twist linearTargetAtTime(double t) +{ + if (t < 1.0) { + return makeTwist(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + } + if (t < 3.5) { + return makeTwist(0.8, 0.0, 0.0, 0.0, 0.0, 0.0); + } + if (t < 6.0) { + return makeTwist(-0.8, 0.6, 0.2, 0.0, 0.0, 0.0); + } + if (t < 8.5) { + return makeTwist(-0.7, 0.0, 0.0, 0.0, 0.0, 0.0); + } + return makeTwist(-0.7, 0.0, 0.0, 0.0, 0.0, 0.0); +} + +Twist angularTargetAtTime(double t) +{ + if (t < 1.0) { + return makeTwist(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + } + if (t < 3.5) { + return makeTwist(0.0, 0.0, 0.0, 0.8, 0.0, 0.0); + } + if (t < 6.0) { + return makeTwist(0.0, 0.0, 0.0, -0.8, 0, 0); + } + if (t < 8.5) { + return makeTwist(0.0, 0.0, 0.0, -0.6, 0.0, 0.0); + } + return makeTwist(0.0, 0.0, 0.0, -0.6, 0.0, 0.0); +} + +Twist synchronizeTargetAtTime(double t) +{ + if (t < 1.0) { + return makeTwist(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + } + if (t < 3.5) { + return makeTwist(0.8, 0.0, 0.0, 0.0, 0.0, 0.0); + } + if (t < 6.0) { + return makeTwist(0.0, 0.7, 0.0, 0.0, 0.0, 0.0); + } + if (t < 8.0) { + return makeTwist(0.0, 0.0, 0.0, 0.0, 0.0, 0.0); + } + return makeTwist(-0.6, 0.0, 0.0, 0.0, 0.0, 0.0); +} + +} // namespace + +TEST(CARTESIAN_TWIST_LIMITER_TEST, LinearDirectionRemainsLockedForFixedTarget) +{ + CartesianTwistLimiter limiter = makeLimiter(); + const Eigen::Matrix3d base_R_tool = Eigen::Matrix3d::Identity(); + + const Eigen::Vector3d expected_dir = normalizedOrZero(Eigen::Vector3d(0.8, 0.6, 0.0)); + limiter.setTargetTwist(makeTwist(0.8, 0.6, 0.0, 0.0, 0.0, 0.0), CartesianFrame::Base); + + double max_speed = 0.0; + for (int i = 0; i < 400; ++i) { + const Twist twist = limiter.update(kDt, base_R_tool); + const Eigen::Vector3d linear = twist.head<3>(); + max_speed = std::max(max_speed, linear.norm()); + + if (linear.norm() > kComponentEps) { + const Eigen::Vector3d dir = linear.normalized(); + EXPECT_LT(dir.cross(expected_dir).norm(), kDirectionEps) << "step=" << i; + } + } + + EXPECT_GT(max_speed, 0.5); +} + +TEST(CARTESIAN_TWIST_LIMITER_TEST, LinearReverseStopsBeforeSwitchingDirection) +{ + CartesianTwistLimiter limiter = makeLimiter(); + const Eigen::Matrix3d base_R_tool = Eigen::Matrix3d::Identity(); + + limiter.setTargetTwist(makeTwist(0.8, 0.0, 0.0, 0.0, 0.0, 0.0), CartesianFrame::Base); + + double speed_before_switch = 0.0; + for (int i = 0; i < 200; ++i) { + const Twist twist = limiter.update(kDt, base_R_tool); + if (twist.head<3>().norm() > 0.2) { + speed_before_switch = twist.head<3>().norm(); + break; + } + } + ASSERT_GT(speed_before_switch, 0.2); + + limiter.setTargetTwist(makeTwist(-0.8, 0.0, 0.0, 0.0, 0.0, 0.0), CartesianFrame::Base); + + bool negative_x_seen = false; + double speed_when_negative_x_appears = 0.0; + for (int i = 0; i < 500; ++i) { + const Twist twist = limiter.update(kDt, base_R_tool); + EXPECT_NEAR(twist.y(), 0.0, kComponentEps); + EXPECT_NEAR(twist.z(), 0.0, kComponentEps); + + if (!negative_x_seen && twist.x() < -kComponentEps) { + negative_x_seen = true; + speed_when_negative_x_appears = twist.head<3>().norm(); + break; + } + + if (!negative_x_seen) { + EXPECT_GE(twist.x(), -kComponentEps); + } + } + + ASSERT_TRUE(negative_x_seen); + EXPECT_LT(speed_when_negative_x_appears, kSwitchSpeedUpperBound); +} + +TEST(CARTESIAN_TWIST_LIMITER_TEST, LinearNonCollinearSwitchStopsBeforeChangingAxis) +{ + CartesianTwistLimiter limiter = makeLimiter(); + const Eigen::Matrix3d base_R_tool = Eigen::Matrix3d::Identity(); + + limiter.setTargetTwist(makeTwist(0.8, 0.0, 0.0, 0.0, 0.0, 0.0), CartesianFrame::Base); + + for (int i = 0; i < 200; ++i) { + if (limiter.update(kDt, base_R_tool).head<3>().norm() > 0.2) { + break; + } + } + + limiter.setTargetTwist(makeTwist(0.0, 0.8, 0.0, 0.0, 0.0, 0.0), CartesianFrame::Base); + + bool y_seen = false; + double speed_when_y_appears = 0.0; + for (int i = 0; i < 500; ++i) { + const Twist twist = limiter.update(kDt, base_R_tool); + EXPECT_NEAR(twist.z(), 0.0, kComponentEps); + + if (!y_seen && std::abs(twist.y()) > kComponentEps) { + y_seen = true; + speed_when_y_appears = twist.head<3>().norm(); + break; + } + + if (!y_seen) { + EXPECT_NEAR(twist.y(), 0.0, kComponentEps); + EXPECT_GE(twist.x(), -kComponentEps); + } + } + + ASSERT_TRUE(y_seen); + EXPECT_LT(speed_when_y_appears, kSwitchSpeedUpperBound); +} + +TEST(CARTESIAN_TWIST_LIMITER_TEST, AngularNonCollinearSwitchStopsBeforeChangingAxis) +{ + CartesianTwistLimiter limiter = makeLimiter(); + const Eigen::Matrix3d base_R_tool = Eigen::Matrix3d::Identity(); + + limiter.setTargetTwist(makeTwist(0.0, 0.0, 0.0, 0.8, 0.0, 0.0), CartesianFrame::Base); + + for (int i = 0; i < 200; ++i) { + if (limiter.update(kDt, base_R_tool).tail<3>().norm() > 0.2) { + break; + } + } + + limiter.setTargetTwist(makeTwist(0.0, 0.0, 0.0, 0.0, 0.0, 0.8), CartesianFrame::Base); + + bool z_seen = false; + double speed_when_z_appears = 0.0; + for (int i = 0; i < 500; ++i) { + const Twist twist = limiter.update(kDt, base_R_tool); + EXPECT_NEAR(twist(4), 0.0, kComponentEps); + + if (!z_seen && std::abs(twist(5)) > kComponentEps) { + z_seen = true; + speed_when_z_appears = twist.tail<3>().norm(); + break; + } + + if (!z_seen) { + EXPECT_NEAR(twist(5), 0.0, kComponentEps); + EXPECT_GE(twist(3), -kComponentEps); + } + } + + ASSERT_TRUE(z_seen); + EXPECT_LT(speed_when_z_appears, kSwitchSpeedUpperBound); +} + +TEST(CARTESIAN_TWIST_LIMITER_TEST, StopKeepsCurrentLinearDirection) +{ + CartesianTwistLimiter limiter = makeLimiter(); + const Eigen::Matrix3d base_R_tool = Eigen::Matrix3d::Identity(); + + limiter.setTargetTwist(makeTwist(0.8, 0.6, 0.0, 0.0, 0.0, 0.0), CartesianFrame::Base); + + Eigen::Vector3d moving_dir = Eigen::Vector3d::Zero(); + for (int i = 0; i < 300; ++i) { + const Twist twist = limiter.update(kDt, base_R_tool); + if (twist.head<3>().norm() > 0.2) { + moving_dir = twist.head<3>().normalized(); + break; + } + } + ASSERT_GT(moving_dir.norm(), 0.5); + + limiter.stop(); + + double final_speed = 0.0; + for (int i = 0; i < 400; ++i) { + const Twist twist = limiter.update(kDt, base_R_tool); + final_speed = twist.head<3>().norm(); + if (final_speed > kComponentEps) { + EXPECT_LT(twist.head<3>().normalized().cross(moving_dir).norm(), kDirectionEps) + << "step=" << i; + } + } + + EXPECT_LT(final_speed, 1e-4); +} + +TEST(CARTESIAN_TWIST_LIMITER_TEST, SynchronizeWithoutKeepingTargetClearsOldCommand) +{ + CartesianTwistLimiter limiter = makeLimiter(); + const Eigen::Matrix3d base_R_tool = Eigen::Matrix3d::Identity(); + + limiter.setTargetTwist(makeTwist(0.8, 0.0, 0.0, 0.0, 0.0, 0.0), CartesianFrame::Base); + for (int i = 0; i < 80; ++i) { + limiter.update(kDt, base_R_tool); + } + + limiter.synchronize(Twist::Zero(), kDt, false); + + EXPECT_NEAR(limiter.getTargetTwistBase().norm(), 0.0, kComponentEps); + + for (int i = 0; i < 50; ++i) { + const Twist twist = limiter.update(kDt, base_R_tool); + EXPECT_NEAR(twist.norm(), 0.0, kComponentEps) << "step=" << i; + } + + EXPECT_FALSE(limiter.isMoving()); +} + +TEST(CARTESIAN_TWIST_LIMITER_TEST, SynchronizeKeepingTargetContinuesTowardExistingCommand) +{ + CartesianTwistLimiter limiter = makeLimiter(); + const Eigen::Matrix3d base_R_tool = Eigen::Matrix3d::Identity(); + + limiter.setTargetTwist(makeTwist(0.8, 0.0, 0.0, 0.0, 0.0, 0.0), CartesianFrame::Base); + for (int i = 0; i < 120; ++i) { + limiter.update(kDt, base_R_tool); + } + + ASSERT_GT(limiter.getTwistBase().x(), 0.2); + + const Twist measured_twist = makeTwist(0.15, 0.0, 0.0, 0.0, 0.0, 0.0); + limiter.synchronize(measured_twist, kDt, true); + + EXPECT_NEAR(limiter.getTwistBase().x(), 0.15, kComponentEps); + EXPECT_NEAR(limiter.getTwistBase().y(), 0.0, kComponentEps); + EXPECT_NEAR(limiter.getTwistBase().z(), 0.0, kComponentEps); + + double max_resumed_speed = measured_twist.x(); + for (int i = 0; i < 200; ++i) { + const Twist twist = limiter.update(kDt, base_R_tool); + EXPECT_NEAR(twist.y(), 0.0, kComponentEps); + EXPECT_NEAR(twist.z(), 0.0, kComponentEps); + max_resumed_speed = std::max(max_resumed_speed, twist.head<3>().norm()); + if (max_resumed_speed > 0.4) { + break; + } + } + + EXPECT_GT(max_resumed_speed, 0.4); + EXPECT_GT(limiter.getTargetTwistBase().x(), 0.7); +} + +TEST(CARTESIAN_TWIST_LIMITER_TEST, EmergencyStopStopsFasterThanNormalStopAndAcceptsNewTarget) +{ + CartesianTwistLimiter normal_limiter = makeLimiter(); + CartesianTwistLimiter emergency_limiter = makeLimiter(); + const Eigen::Matrix3d base_R_tool = Eigen::Matrix3d::Identity(); + + const Twist forward_twist = makeTwist(0.8, 0.0, 0.0, 0.0, 0.0, 0.0); + normal_limiter.setTargetTwist(forward_twist, CartesianFrame::Base); + emergency_limiter.setTargetTwist(forward_twist, CartesianFrame::Base); + + for (int i = 0; i < 250; ++i) { + normal_limiter.update(kDt, base_R_tool); + emergency_limiter.update(kDt, base_R_tool); + } + + const double start_speed = normal_limiter.getTwistBase().head<3>().norm(); + ASSERT_GT(start_speed, 0.2); + ASSERT_NEAR(emergency_limiter.getTwistBase().head<3>().norm(), start_speed, 1e-3); + + normal_limiter.stop(); + emergency_limiter.emergencyStop(3.0, 20.0); + + int normal_stop_steps = -1; + int emergency_stop_steps = -1; + for (int i = 0; i < 500; ++i) { + const double normal_speed = normal_limiter.update(kDt, base_R_tool).head<3>().norm(); + const double emergency_speed = emergency_limiter.update(kDt, base_R_tool).head<3>().norm(); + + if (normal_stop_steps < 0 && normal_speed < 1e-3) { + normal_stop_steps = i; + } + if (emergency_stop_steps < 0 && emergency_speed < 1e-3) { + emergency_stop_steps = i; + } + + if (normal_stop_steps >= 0 && emergency_stop_steps >= 0) { + break; + } + } + + ASSERT_GE(normal_stop_steps, 0); + ASSERT_GE(emergency_stop_steps, 0); + EXPECT_LT(emergency_stop_steps, normal_stop_steps); + + const Twist restart_twist = makeTwist(-0.4, 0.0, 0.0, 0.0, 0.0, 0.0); + emergency_limiter.setTargetTwist(restart_twist, CartesianFrame::Base); + + double restarted_speed = 0.0; + double restarted_x = 0.0; + for (int i = 0; i < 300; ++i) { + const Twist twist = emergency_limiter.update(kDt, base_R_tool); + restarted_speed = twist.head<3>().norm(); + restarted_x = twist.x(); + if (restarted_speed > 0.2) { + break; + } + } + + EXPECT_GT(restarted_speed, 0.2); + EXPECT_LT(restarted_x, -0.2); +} + +TEST(CARTESIAN_TWIST_LIMITER_TEST, PlotLinearVelocityComponentsAndNorm) +{ + CartesianTwistLimiter limiter = makeLimiter(); + const Eigen::Matrix3d base_R_tool = Eigen::Matrix3d::Identity(); + + std::vector time; + std::vector vx; + std::vector vy; + std::vector vz; + std::vector speed; + std::vector target_speed; + std::vector ax; + std::vector ay; + std::vector az; + std::vector accel; + std::vector jx; + std::vector jy; + std::vector jz; + std::vector jerk; + + constexpr double kEmergencyTime = 8.5; + constexpr double kRestartTime = 10.0; + constexpr double kTotalTime = 14.0; + const int steps = static_cast(kTotalTime / kDt); + + time.reserve(steps + 1); + vx.reserve(steps + 1); + vy.reserve(steps + 1); + vz.reserve(steps + 1); + speed.reserve(steps + 1); + target_speed.reserve(steps + 1); + ax.reserve(steps + 1); + ay.reserve(steps + 1); + az.reserve(steps + 1); + accel.reserve(steps + 1); + jx.reserve(steps + 1); + jy.reserve(steps + 1); + jz.reserve(steps + 1); + jerk.reserve(steps + 1); + + bool emergency_stop_called = false; + bool restart_called = false; + for (int i = 0; i <= steps; ++i) { + const double t = i * kDt; + if (t < kEmergencyTime) { + limiter.setTargetTwist(linearTargetAtTime(t), CartesianFrame::Base); + } else if (!emergency_stop_called) { + limiter.emergencyStop(10.0, 50.0); + emergency_stop_called = true; + } else if (t >= kRestartTime && !restart_called) { + limiter.setTargetTwist(makeTwist(0.0, -0.6, 0.0, 0.0, 0.0, 0.0), CartesianFrame::Base); + restart_called = true; + } + + const Twist twist = limiter.update(kDt, base_R_tool); + const Twist target = limiter.getTargetTwistBase(); + const Twist acceleration = limiter.getAccelerationBase(); + const Twist current_jerk = limiter.getJerkBase(); + + time.push_back(t); + vx.push_back(twist.x()); + vy.push_back(twist.y()); + vz.push_back(twist.z()); + speed.push_back(twist.head<3>().norm()); + target_speed.push_back(target.head<3>().norm()); + ax.push_back(acceleration.x()); + ay.push_back(acceleration.y()); + az.push_back(acceleration.z()); + accel.push_back(acceleration.head<3>().norm()); + jx.push_back(current_jerk.x()); + jy.push_back(current_jerk.y()); + jz.push_back(current_jerk.z()); + jerk.push_back(current_jerk.head<3>().norm()); + } + + using namespace matplot; + + auto configure_axes = [](const axes_handle& axes) { + axes->line_width(1.5f); + grid(axes, on); + }; + + auto style_line = [](const auto& line, std::initializer_list color, double width) { + line->line_width(width); + line->color(color); + }; + + auto fig = figure(true); + fig->size(1600, 1200); + fig->font_size(16); + + auto ax_v = subplot(fig, std::array{0.07f, 0.69f, 0.88f, 0.24f}); + hold(ax_v, on); + style_line(plot(ax_v, time, vx), {0.86f, 0.16f, 0.16f}, 3.0); + style_line(plot(ax_v, time, vy), {0.16f, 0.47f, 0.80f}, 3.0); + style_line(plot(ax_v, time, vz), {0.12f, 0.62f, 0.42f}, 3.0); + style_line(plot(ax_v, time, speed), {0.10f, 0.10f, 0.10f}, 3.5); + auto line_target_speed = plot(ax_v, time, target_speed); + line_target_speed->line_width(2.5); + line_target_speed->line_style("--"); + line_target_speed->color({0.80f, 0.55f, 0.10f}); + title(ax_v, "CartesianTwistLimiter Linear Velocity With Emergency Stop And Restart"); + xlabel(ax_v, "time [s]"); + ylabel(ax_v, "velocity [m/s]"); + legend(ax_v, {"vx", "vy", "vz", "speed", "target speed"}); + configure_axes(ax_v); + + auto ax_a = subplot(fig, std::array{0.07f, 0.38f, 0.88f, 0.24f}); + hold(ax_a, on); + style_line(plot(ax_a, time, ax), {0.86f, 0.16f, 0.16f}, 3.0); + style_line(plot(ax_a, time, ay), {0.16f, 0.47f, 0.80f}, 3.0); + style_line(plot(ax_a, time, az), {0.12f, 0.62f, 0.42f}, 3.0); + style_line(plot(ax_a, time, accel), {0.10f, 0.10f, 0.10f}, 3.5); + title(ax_a, "CartesianTwistLimiter Linear Acceleration"); + xlabel(ax_a, "time [s]"); + ylabel(ax_a, "acceleration [m/s^2]"); + legend(ax_a, {"ax", "ay", "az", "acc norm"}); + configure_axes(ax_a); + + auto ax_j = subplot(fig, std::array{0.07f, 0.07f, 0.88f, 0.24f}); + hold(ax_j, on); + style_line(plot(ax_j, time, jx), {0.86f, 0.16f, 0.16f}, 3.0); + style_line(plot(ax_j, time, jy), {0.16f, 0.47f, 0.80f}, 3.0); + style_line(plot(ax_j, time, jz), {0.12f, 0.62f, 0.42f}, 3.0); + style_line(plot(ax_j, time, jerk), {0.10f, 0.10f, 0.10f}, 3.5); + title(ax_j, "CartesianTwistLimiter Linear Jerk"); + xlabel(ax_j, "time [s]"); + ylabel(ax_j, "jerk [m/s^3]"); + legend(ax_j, {"jx", "jy", "jz", "jerk norm"}); + configure_axes(ax_j); + + show(fig); + cla(); +} + +TEST(CARTESIAN_TWIST_LIMITER_TEST, PlotAngularVelocityComponentsAndNorm) +{ + CartesianTwistLimiter limiter = makeLimiter(); + const Eigen::Matrix3d base_R_tool = Eigen::Matrix3d::Identity(); + + std::vector time; + std::vector wx; + std::vector wy; + std::vector wz; + std::vector omega; + std::vector target_omega; + + constexpr double kEmergencyTime = 8.5; + constexpr double kRestartTime = 10.0; + constexpr double kTotalTime = 14.0; + const int steps = static_cast(kTotalTime / kDt); + + time.reserve(steps + 1); + wx.reserve(steps + 1); + wy.reserve(steps + 1); + wz.reserve(steps + 1); + omega.reserve(steps + 1); + target_omega.reserve(steps + 1); + + bool emergency_stop_called = false; + bool restart_called = false; + for (int i = 0; i <= steps; ++i) { + const double t = i * kDt; + if (t < kEmergencyTime) { + limiter.setTargetTwist(angularTargetAtTime(t), CartesianFrame::Base); + } else if (!emergency_stop_called) { + limiter.emergencyStop(10.0, 50.0); + emergency_stop_called = true; + } else if (t >= kRestartTime && !restart_called) { + limiter.setTargetTwist(makeTwist(0.0, 0.0, 0.0, 0.0, 0.0, -0.5), CartesianFrame::Base); + restart_called = true; + } + + const Twist twist = limiter.update(kDt, base_R_tool); + const Twist target = limiter.getTargetTwistBase(); + + time.push_back(t); + wx.push_back(twist(3)); + wy.push_back(twist(4)); + wz.push_back(twist(5)); + omega.push_back(twist.tail<3>().norm()); + target_omega.push_back(target.tail<3>().norm()); + } + + using namespace matplot; + + auto configure_axes = [](const axes_handle& axes) { + axes->line_width(1.5f); + grid(axes, on); + }; + + auto style_line = [](const auto& line, std::initializer_list color, double width) { + line->line_width(width); + line->color(color); + }; + + auto fig = figure(true); + fig->size(1600, 520); + fig->font_size(16); + + auto ax = subplot(fig, std::array{0.07f, 0.14f, 0.88f, 0.74f}); + hold(ax, on); + style_line(plot(ax, time, wx), {0.86f, 0.16f, 0.16f}, 3.0); + style_line(plot(ax, time, wy), {0.16f, 0.47f, 0.80f}, 3.0); + style_line(plot(ax, time, wz), {0.12f, 0.62f, 0.42f}, 3.0); + style_line(plot(ax, time, omega), {0.10f, 0.10f, 0.10f}, 3.5); + auto line_target_omega = plot(ax, time, target_omega); + line_target_omega->line_width(2.5); + line_target_omega->line_style("--"); + line_target_omega->color({0.80f, 0.55f, 0.10f}); + title(ax, "CartesianTwistLimiter Angular Velocity With Emergency Stop And Restart"); + xlabel(ax, "time [s]"); + ylabel(ax, "angular velocity [rad/s]"); + legend(ax, {"wx", "wy", "wz", "omega", "target omega"}); + configure_axes(ax); + + show(fig); + cla(); +} + +TEST(CARTESIAN_TWIST_LIMITER_TEST, PlotSynchronizeTrackingWithMeasuredTwist) +{ + CartesianTwistLimiter limiter = makeLimiter(); + const Eigen::Matrix3d base_R_tool = Eigen::Matrix3d::Identity(); + + Twist measured_twist = Twist::Zero(); + + std::vector time; + std::vector target_speed; + std::vector commanded_speed; + std::vector measured_speed; + std::vector commanded_vx; + std::vector commanded_vy; + std::vector measured_vx; + std::vector measured_vy; + std::vector tracking_error; + std::vector acc_norm; + std::vector jerk_norm; + + constexpr double kTotalTime = 10.0; + constexpr double kTrackingTau = 0.08; + const double alpha = kDt / (kTrackingTau + kDt); + const int steps = static_cast(kTotalTime / kDt); + + time.reserve(steps + 1); + target_speed.reserve(steps + 1); + commanded_speed.reserve(steps + 1); + measured_speed.reserve(steps + 1); + commanded_vx.reserve(steps + 1); + commanded_vy.reserve(steps + 1); + measured_vx.reserve(steps + 1); + measured_vy.reserve(steps + 1); + tracking_error.reserve(steps + 1); + acc_norm.reserve(steps + 1); + jerk_norm.reserve(steps + 1); + + for (int i = 0; i <= steps; ++i) { + const double t = i * kDt; + const Twist target = synchronizeTargetAtTime(t); + + limiter.synchronize(measured_twist, kDt, true); + limiter.setTargetTwist(target, CartesianFrame::Base); + const Twist commanded = limiter.update(kDt, base_R_tool); + + measured_twist += alpha * (commanded - measured_twist); + + time.push_back(t); + target_speed.push_back(target.head<3>().norm()); + commanded_speed.push_back(commanded.head<3>().norm()); + measured_speed.push_back(measured_twist.head<3>().norm()); + commanded_vx.push_back(commanded.x()); + commanded_vy.push_back(commanded.y()); + measured_vx.push_back(measured_twist.x()); + measured_vy.push_back(measured_twist.y()); + tracking_error.push_back((commanded.head<3>() - measured_twist.head<3>()).norm()); + acc_norm.push_back(limiter.getAccelerationBase().head<3>().norm()); + jerk_norm.push_back(limiter.getJerkBase().head<3>().norm()); + } + + using namespace matplot; + + auto configure_axes = [](const axes_handle& axes) { + axes->line_width(1.5f); + grid(axes, on); + }; + + auto style_line = [](const auto& line, std::initializer_list color, double width) { + line->line_width(width); + line->color(color); + }; + + auto fig = figure(true); + fig->size(1600, 1200); + fig->font_size(16); + + auto ax_speed = subplot(fig, std::array{0.07f, 0.69f, 0.88f, 0.24f}); + hold(ax_speed, on); + auto line_target = plot(ax_speed, time, target_speed); + line_target->line_width(2.5); + line_target->line_style("--"); + line_target->color({0.80f, 0.55f, 0.10f}); + style_line(plot(ax_speed, time, commanded_speed), {0.10f, 0.10f, 0.10f}, 3.5); + style_line(plot(ax_speed, time, measured_speed), {0.55f, 0.12f, 0.72f}, 3.0); + title(ax_speed, "Synchronize: target / commanded / measured speed"); + xlabel(ax_speed, "time [s]"); + ylabel(ax_speed, "speed [m/s]"); + legend(ax_speed, {"target speed", "commanded speed", "measured speed"}); + configure_axes(ax_speed); + + auto ax_components = subplot(fig, std::array{0.07f, 0.38f, 0.88f, 0.24f}); + hold(ax_components, on); + style_line(plot(ax_components, time, commanded_vx), {0.86f, 0.16f, 0.16f}, 3.0); + auto line_measured_vx = plot(ax_components, time, measured_vx); + line_measured_vx->line_width(2.5); + line_measured_vx->line_style("--"); + line_measured_vx->color({0.86f, 0.16f, 0.16f}); + style_line(plot(ax_components, time, commanded_vy), {0.16f, 0.47f, 0.80f}, 3.0); + auto line_measured_vy = plot(ax_components, time, measured_vy); + line_measured_vy->line_width(2.5); + line_measured_vy->line_style("--"); + line_measured_vy->color({0.16f, 0.47f, 0.80f}); + title(ax_components, "Synchronize: commanded vs measured components"); + xlabel(ax_components, "time [s]"); + ylabel(ax_components, "velocity [m/s]"); + legend(ax_components, {"cmd vx", "meas vx", "cmd vy", "meas vy"}); + configure_axes(ax_components); + + auto ax_dynamics = subplot(fig, std::array{0.07f, 0.07f, 0.88f, 0.24f}); + hold(ax_dynamics, on); + style_line(plot(ax_dynamics, time, tracking_error), {0.10f, 0.10f, 0.10f}, 3.5); + style_line(plot(ax_dynamics, time, acc_norm), {0.12f, 0.62f, 0.42f}, 3.0); + style_line(plot(ax_dynamics, time, jerk_norm), {0.55f, 0.12f, 0.72f}, 3.0); + title(ax_dynamics, "Synchronize: tracking error / acceleration / jerk"); + xlabel(ax_dynamics, "time [s]"); + ylabel(ax_dynamics, "norm"); + legend(ax_dynamics, {"|cmd - meas|", "acc norm", "jerk norm"}); + configure_axes(ax_dynamics); + + show(fig); + cla(); +} + +} // namespace cmvr diff --git a/cmvr-es/planner/s_curve_planner/include/s_curve_position_planner.h b/cmvr-es/planner/s_curve_planner/include/s_curve_position_planner.h new file mode 100644 index 00000000..551abaa0 --- /dev/null +++ b/cmvr-es/planner/s_curve_planner/include/s_curve_position_planner.h @@ -0,0 +1,100 @@ +// +// Created by lgv on 2026/3/10. +// + +#pragma once + +#include "s_curve_velocity_planner.h" + +#include +#include + +namespace cmvr +{ + +struct SCurvePositionPlannerState +{ + double position; + double velocity; + double acceleration; + double jerk; + double target_position; + bool is_moving; + + SCurvePositionPlannerState() + : position(0.0) + , velocity(0.0) + , acceleration(0.0) + , jerk(0.0) + , target_position(0.0) + , is_moving(false) + {} +}; + +/** + * @brief 单轴位置跟踪规划器 + * + * 结构： + * - 外环：position_error -> desired_velocity + * - 内环：SCurveVelocityPlanner1D 负责 jerk-limited 速度规划 + * + * 这个类用于高频变化目标的位置跟踪，不承担严格点到点 profile 语义。 + */ +class SCurvePositionPlanner1D +{ +public: + SCurvePositionPlanner1D(double max_velocity = 3.0, + double max_acceleration = 10.0, + double max_jerk = 50.0); + + void setConstraints(double max_velocity, double max_acceleration, double max_jerk); + void getConstraints(double& max_velocity, double& max_acceleration, double& max_jerk) const; + + void setPositionGain(double position_gain); + double getPositionGain() const { return position_gain_; } + + void initialize(double position, double velocity = 0.0, double acceleration = 0.0); + void reset(); + + void setTarget(double target_position); + double update(double dt); + + const SCurvePositionPlannerState& getState() const { return state_; } + double getPosition() const { return state_.position; } + double getVelocity() const { return state_.velocity; } + double getAcceleration() const { return state_.acceleration; } + double getJerk() const { return state_.jerk; } + double getTargetPosition() const { return state_.target_position; } + bool isMoving() const { return state_.is_moving; } + +private: + double max_velocity_; + double max_acceleration_; + double max_jerk_; + + SCurvePositionPlannerState state_; + SCurveVelocityPlanner1D velocity_planner_; + double position_gain_; + + static constexpr double EPSILON = 1e-9; + static constexpr double VELOCITY_THRESHOLD = 1e-6; + static constexpr double ACCELERATION_THRESHOLD = 1e-6; + static constexpr double POSITION_THRESHOLD = 1e-7; + + double computeDesiredVelocity(double position_error) const; + double computePlannerStoppingDistance(double velocity, double acceleration) const; + + static double clamp(double value, double min_val, double max_val) + { + return std::max(min_val, std::min(max_val, value)); + } + + static double sign(double value) + { + if (value > EPSILON) return 1.0; + if (value < -EPSILON) return -1.0; + return 0.0; + } +}; + +} // namespace cmvr diff --git a/cmvr-es/planner/s_curve_planner/include/s_curve_velocity_planner.h b/cmvr-es/planner/s_curve_planner/include/s_curve_velocity_planner.h new file mode 100644 index 00000000..f9e59774 --- /dev/null +++ b/cmvr-es/planner/s_curve_planner/include/s_curve_velocity_planner.h @@ -0,0 +1,240 @@ +// +// Created by lgv on 2026/3/9. +// + +#pragma once + +#include +#include +#include + +namespace cmvr +{ + +/** + * @brief 单次速度切换的 S 曲线剖面参数 + * + * 本类表示从任意 (v0, a0) 连续规划到 (vf, 0) 的 3 段 jerk-limited profile： + * + * seg1: jerk = j1, duration = t1 + * seg2: jerk = j2, duration = t2 (当前实现 j2 = 0) + * seg3: jerk = j3, duration = t3 + * + * 其中 j1/j3 为 ±j_max，j2 为 0。 + */ +struct SCurveVelocityProfile +{ + double t1; + double t2; + double t3; + + double total_time; + + double j1; + double j2; + double j3; + + double v0; + double a0; + double vf; + + bool valid; + + SCurveVelocityProfile() + : t1(0.0), t2(0.0), t3(0.0) + , total_time(0.0) + , j1(0.0), j2(0.0), j3(0.0) + , v0(0.0), a0(0.0), vf(0.0) + , valid(false) + {} +}; + +/** + * @brief S 曲线速度规划器状态 + */ +struct SCurveVelocityPlannerState +{ + double velocity; + double acceleration; + double jerk; + + double target_velocity; + + double elapsed_time; + bool has_active_profile; + bool is_moving; + + SCurveVelocityPlannerState() + : velocity(0.0) + , acceleration(0.0) + , jerk(0.0) + , target_velocity(0.0) + , elapsed_time(0.0) + , has_active_profile(false) + , is_moving(false) + {} +}; + +/** + * @brief 单轴速度型 S 曲线规划器 + * + * 语义： + * - setTargetVelocity(v): 设置新目标并重规划 + * - update(dt): 只采样当前 active profile + * - overwriteState(v,a): 仅覆盖当前状态并清掉旧 profile + * - synchronizeAndReplan(v,a): 用测量状态同步，并按当前目标重规划 + * + * 数学目标： + * - 从任意 (v0, a0) 连续规划到 (vf, 0) + * - 满足 |v| <= v_max, |a| <= a_max, |j| <= j_max + */ +class SCurveVelocityPlanner1D +{ +public: + SCurveVelocityPlanner1D(double max_velocity = 1.0, + double max_acceleration = 1.0, + double max_jerk = 5.0); + + void setConstraints(double max_velocity, double max_acceleration, double max_jerk); + void getConstraints(double& max_velocity, double& max_acceleration, double& max_jerk) const; + + /** + * @brief 设置目标变化阈值 + * + * 目标变化量小于该阈值时，不触发重规划。 + */ + void setTargetReplanThreshold(double threshold); + + /** + * @brief 设置同步反馈时的重规划阈值 + * + * 测量速度与当前 profile 采样状态的偏差小于该阈值时， + * synchronizeAndReplan() 只对齐当前状态，不打断现有 profile。 + */ + void setSynchronizeReplanThreshold(double threshold); + + void initialize(double velocity = 0.0, double acceleration = 0.0); + void reset(); + + /** + * @brief 仅覆盖当前状态，并清掉旧 profile + * + * 注意： + * - 这个接口不会自动重规划 + * - 用于初始化、调试、或显式中断旧轨迹 + */ + void overwriteState(double velocity, + double acceleration = 0.0, + bool keep_target_velocity = true); + + /** + * @brief 用测量状态同步，并按当前目标重新规划 + * + * 这是闭环场景真正该用的接口。 + */ + void synchronizeAndReplan(double velocity, + double acceleration = 0.0); + + /** + * @brief 设置目标速度，并立即重规划 + */ + void setTargetVelocity(double target_velocity); + + /** + * @brief 平滑停下 + */ + void stop() { setTargetVelocity(0.0); } + + /** + * @brief 更新一步（只采样） + * @param dt 时间步长 + * @return 当前采样后的速度 + */ + double update(double dt); + + /** + * @brief 计算单次速度切换剖面 + */ + SCurveVelocityProfile calculateProfile(double start_velocity, + double end_velocity, + double start_acceleration = 0.0) const; + + /** + * @brief 给定剖面下，获取时刻 t 的速度 + */ + double getVelocityAtTime(const SCurveVelocityProfile& profile, double t) const; + + /** + * @brief 给定剖面下，获取时刻 t 的加速度 + */ + double getAccelerationAtTime(const SCurveVelocityProfile& profile, double t) const; + + /** + * @brief 给定剖面下，获取时刻 t 的 jerk + */ + double getJerkAtTime(const SCurveVelocityProfile& profile, double t) const; + + /** + * @brief 按固定时间间隔生成轨迹点 + */ + void generateTrajectory(const SCurveVelocityProfile& profile, double dt, + std::vector& velocities, + std::vector& accelerations, + std::vector& jerks) const; + + const SCurveVelocityPlannerState& getState() const { return state_; } + const SCurveVelocityProfile& getActiveProfile() const { return active_profile_; } + + double getVelocity() const { return state_.velocity; } + double getAcceleration() const { return state_.acceleration; } + double getJerk() const { return state_.jerk; } + double getTargetVelocity() const { return state_.target_velocity; } + bool hasActiveProfile() const { return state_.has_active_profile; } + bool isMoving() const { return state_.is_moving; } + +private: + double max_velocity_; + double max_acceleration_; + double max_jerk_; + + double target_replan_threshold_; + double synchronize_replan_threshold_; + + SCurveVelocityPlannerState state_; + SCurveVelocityProfile active_profile_; + + static constexpr double EPSILON = 1e-9; + static constexpr double VELOCITY_THRESHOLD = 1e-6; + static constexpr double ACCELERATION_THRESHOLD = 1e-6; + static constexpr double DEFAULT_TARGET_REPLAN_THRESHOLD = 1e-9; + static constexpr double DEFAULT_SYNCHRONIZE_REPLAN_THRESHOLD = 5e-2; + +private: + void updateIsMovingFlag(); + + /** + * @brief 判断 profile 是否满足速度上限 + */ + bool isVelocityLimitSatisfied(const SCurveVelocityProfile& profile) const; + + /** + * @brief 计算完整剖面终点状态 + */ + void integrateWholeProfile(const SCurveVelocityProfile& profile, + double& v_end, + double& a_end) const; + + static double clamp(double value, double min_val, double max_val) + { + return std::max(min_val, std::min(max_val, value)); + } + + static double sign(double value) + { + if (value > EPSILON) return 1.0; + if (value < -EPSILON) return -1.0; + return 0.0; + } +}; + +} // namespace cmvr diff --git a/cmvr-es/planner/s_curve_planner/src/s_curve_position_planner.cpp b/cmvr-es/planner/s_curve_planner/src/s_curve_position_planner.cpp new file mode 100644 index 00000000..b379f059 --- /dev/null +++ b/cmvr-es/planner/s_curve_planner/src/s_curve_position_planner.cpp @@ -0,0 +1,191 @@ +// +// Created by lgv on 2026/3/10. +// + +#include "../include/s_curve_position_planner.h" + +#include +#include + +namespace cmvr +{ + +SCurvePositionPlanner1D::SCurvePositionPlanner1D(double max_velocity, + double max_acceleration, + double max_jerk) + : max_velocity_(std::abs(max_velocity)) + , max_acceleration_(std::abs(max_acceleration)) + , max_jerk_(std::abs(max_jerk)) + , velocity_planner_(max_velocity_, max_acceleration_, max_jerk_) + , position_gain_(1.0) +{ + velocity_planner_.setTargetReplanThreshold(std::max(1e-3, 0.02 * max_velocity_)); + reset(); +} + +void SCurvePositionPlanner1D::setConstraints(double max_velocity, + double max_acceleration, + double max_jerk) +{ + max_velocity_ = std::abs(max_velocity); + max_acceleration_ = std::abs(max_acceleration); + max_jerk_ = std::abs(max_jerk); + velocity_planner_.setConstraints(max_velocity_, max_acceleration_, max_jerk_); + velocity_planner_.setTargetReplanThreshold(std::max(1e-3, 0.02 * max_velocity_)); +} + +void SCurvePositionPlanner1D::getConstraints(double& max_velocity, + double& max_acceleration, + double& max_jerk) const +{ + max_velocity = max_velocity_; + max_acceleration = max_acceleration_; + max_jerk = max_jerk_; +} + +void SCurvePositionPlanner1D::setPositionGain(double position_gain) +{ + position_gain_ = std::max(0.0, position_gain); +} + +void SCurvePositionPlanner1D::initialize(double position, double velocity, double acceleration) +{ + state_.position = position; + velocity_planner_.initialize(velocity, acceleration); + state_.velocity = velocity_planner_.getVelocity(); + state_.acceleration = velocity_planner_.getAcceleration(); + state_.jerk = 0.0; + state_.target_position = position; + state_.is_moving = false; +} + +void SCurvePositionPlanner1D::reset() +{ + state_ = SCurvePositionPlannerState(); + velocity_planner_.reset(); +} + +void SCurvePositionPlanner1D::setTarget(double target_position) +{ + state_.target_position = target_position; +} + +double SCurvePositionPlanner1D::update(double dt) +{ + if (dt <= 0.0 || dt > 0.1) { + return state_.position; + } + + const double position_error = state_.target_position - state_.position; + if (std::abs(position_error) < POSITION_THRESHOLD && + std::abs(velocity_planner_.getVelocity()) < VELOCITY_THRESHOLD && + std::abs(velocity_planner_.getAcceleration()) < ACCELERATION_THRESHOLD) { + velocity_planner_.overwriteState(0.0, 0.0, false); + state_.position = state_.target_position; + state_.velocity = 0.0; + state_.acceleration = 0.0; + state_.jerk = 0.0; + state_.is_moving = false; + return state_.position; + } + + velocity_planner_.setTargetVelocity(computeDesiredVelocity(position_error)); + + const double old_velocity = velocity_planner_.getVelocity(); + const double new_velocity = velocity_planner_.update(dt); + + state_.velocity = new_velocity; + state_.acceleration = velocity_planner_.getAcceleration(); + state_.jerk = velocity_planner_.getJerk(); + state_.position += 0.5 * (old_velocity + new_velocity) * dt; + + const double updated_error = state_.target_position - state_.position; + if (std::abs(updated_error) < POSITION_THRESHOLD && + std::abs(state_.velocity) < VELOCITY_THRESHOLD && + std::abs(state_.acceleration) < ACCELERATION_THRESHOLD) { + velocity_planner_.overwriteState(0.0, 0.0, false); + state_.position = state_.target_position; + state_.velocity = 0.0; + state_.acceleration = 0.0; + state_.jerk = 0.0; + state_.is_moving = false; + return state_.position; + } + + state_.is_moving = velocity_planner_.isMoving() || + std::abs(updated_error) > POSITION_THRESHOLD; + return state_.position; +} + +double SCurvePositionPlanner1D::computeDesiredVelocity(double position_error) const +{ + if (std::abs(position_error) <= POSITION_THRESHOLD) { + return 0.0; + } + + const double proportional_velocity = + clamp(position_gain_ * position_error, -max_velocity_, max_velocity_); + const double current_velocity = velocity_planner_.getVelocity(); + const double current_acceleration = velocity_planner_.getAcceleration(); + const double stopping_distance = + computePlannerStoppingDistance(current_velocity, current_acceleration); + + if (std::abs(current_velocity) > VELOCITY_THRESHOLD && + sign(current_velocity) != sign(position_error)) { + return 0.0; + } + + if (std::abs(current_velocity) > VELOCITY_THRESHOLD && + sign(current_velocity) == sign(position_error) && + std::abs(position_error) <= std::abs(stopping_distance) * 1.05) { + return 0.0; + } + + double low = 0.0; + double high = max_velocity_; + for (int i = 0; i < 40; ++i) { + const double mid = 0.5 * (low + high); + const double distance = + std::abs(computePlannerStoppingDistance(sign(position_error) * mid, 0.0)); + if (distance <= std::abs(position_error)) { + low = mid; + } else { + high = mid; + } + } + + return sign(position_error) * + std::min(std::abs(proportional_velocity), low); +} + +double SCurvePositionPlanner1D::computePlannerStoppingDistance(double velocity, + double acceleration) const +{ + if (std::abs(velocity) <= VELOCITY_THRESHOLD && + std::abs(acceleration) <= ACCELERATION_THRESHOLD) { + return 0.0; + } + + const auto profile = velocity_planner_.calculateProfile(velocity, 0.0, acceleration); + if (!profile.valid || profile.total_time <= EPSILON) { + return 0.0; + } + + const int steps = std::max(16, static_cast(std::ceil(profile.total_time / 0.002))); + const double dt = profile.total_time / static_cast(steps); + + double distance = 0.0; + double previous_time = 0.0; + double previous_velocity = velocity_planner_.getVelocityAtTime(profile, 0.0); + for (int i = 1; i <= steps; ++i) { + const double t = (i == steps) ? profile.total_time : i * dt; + const double current_velocity = velocity_planner_.getVelocityAtTime(profile, t); + distance += 0.5 * (previous_velocity + current_velocity) * (t - previous_time); + previous_time = t; + previous_velocity = current_velocity; + } + + return distance; +} + +} // namespace cmvr diff --git a/cmvr-es/planner/s_curve_planner/src/s_curve_velocity_planner.cpp b/cmvr-es/planner/s_curve_planner/src/s_curve_velocity_planner.cpp new file mode 100644 index 00000000..b6748195 --- /dev/null +++ b/cmvr-es/planner/s_curve_planner/src/s_curve_velocity_planner.cpp @@ -0,0 +1,562 @@ +// +// Created by lgv on 2026/3/9. +// + +#include "../include/s_curve_velocity_planner.h" + +#include +#include + +namespace cmvr +{ + +SCurveVelocityPlanner1D::SCurveVelocityPlanner1D(double max_velocity, + double max_acceleration, + double max_jerk) + : max_velocity_(std::abs(max_velocity)) + , max_acceleration_(std::abs(max_acceleration)) + , max_jerk_(std::abs(max_jerk)) + , target_replan_threshold_(DEFAULT_TARGET_REPLAN_THRESHOLD) + , synchronize_replan_threshold_(DEFAULT_SYNCHRONIZE_REPLAN_THRESHOLD) +{ + reset(); +} + +void SCurveVelocityPlanner1D::setConstraints(double max_velocity, + double max_acceleration, + double max_jerk) +{ + max_velocity_ = std::abs(max_velocity); + max_acceleration_ = std::abs(max_acceleration); + max_jerk_ = std::abs(max_jerk); + + state_.velocity = clamp(state_.velocity, -max_velocity_, max_velocity_); + state_.acceleration = clamp(state_.acceleration, -max_acceleration_, max_acceleration_); + state_.target_velocity = clamp(state_.target_velocity, -max_velocity_, max_velocity_); + + if (state_.has_active_profile) { + active_profile_ = calculateProfile(state_.velocity, + state_.target_velocity, + state_.acceleration); + state_.elapsed_time = 0.0; + state_.has_active_profile = active_profile_.valid && active_profile_.total_time > EPSILON; + } + + updateIsMovingFlag(); +} + +void SCurveVelocityPlanner1D::getConstraints(double& max_velocity, + double& max_acceleration, + double& max_jerk) const +{ + max_velocity = max_velocity_; + max_acceleration = max_acceleration_; + max_jerk = max_jerk_; +} + +void SCurveVelocityPlanner1D::setTargetReplanThreshold(double threshold) +{ + target_replan_threshold_ = std::max(0.0, threshold); +} + +void SCurveVelocityPlanner1D::setSynchronizeReplanThreshold(double threshold) +{ + synchronize_replan_threshold_ = std::max(0.0, threshold); +} + +void SCurveVelocityPlanner1D::initialize(double velocity, double acceleration) +{ + state_ = SCurveVelocityPlannerState(); + state_.velocity = clamp(velocity, -max_velocity_, max_velocity_); + state_.acceleration = clamp(acceleration, -max_acceleration_, max_acceleration_); + state_.jerk = 0.0; + state_.target_velocity = state_.velocity; + state_.elapsed_time = 0.0; + state_.has_active_profile = false; + + active_profile_ = SCurveVelocityProfile(); + active_profile_.v0 = state_.velocity; + active_profile_.a0 = state_.acceleration; + active_profile_.vf = state_.velocity; + active_profile_.valid = false; + + updateIsMovingFlag(); +} + +void SCurveVelocityPlanner1D::reset() +{ + state_ = SCurveVelocityPlannerState(); + active_profile_ = SCurveVelocityProfile(); +} + +void SCurveVelocityPlanner1D::overwriteState(double velocity, + double acceleration, + bool keep_target_velocity) +{ + state_.velocity = clamp(velocity, -max_velocity_, max_velocity_); + state_.acceleration = clamp(acceleration, -max_acceleration_, max_acceleration_); + state_.jerk = 0.0; + state_.elapsed_time = 0.0; + state_.has_active_profile = false; + + if (!keep_target_velocity) { + state_.target_velocity = state_.velocity; + } else { + state_.target_velocity = clamp(state_.target_velocity, -max_velocity_, max_velocity_); + } + + active_profile_ = SCurveVelocityProfile(); + active_profile_.v0 = state_.velocity; + active_profile_.a0 = state_.acceleration; + active_profile_.vf = state_.target_velocity; + active_profile_.valid = false; + + updateIsMovingFlag(); +} + + void SCurveVelocityPlanner1D::synchronizeAndReplan(double velocity, + double acceleration) +{ + const double measured_velocity = clamp(velocity, -max_velocity_, max_velocity_); + const double measured_acceleration = + clamp(acceleration, -max_acceleration_, max_acceleration_); + + if (!state_.has_active_profile && + std::abs(measured_velocity - state_.target_velocity) <= VELOCITY_THRESHOLD) { + state_.velocity = state_.target_velocity; + state_.acceleration = 0.0; + state_.jerk = 0.0; + updateIsMovingFlag(); + return; + } + + // 如果测量值已经基本落在当前采样状态上，就继续沿现有 profile 走。 + // 否则每拍都从同一目标重规划，会把已经进入的 jerk phase 反复打断。 + if (state_.has_active_profile && + std::abs(measured_velocity - state_.velocity) <= synchronize_replan_threshold_) { + state_.velocity = measured_velocity; + state_.acceleration = measured_acceleration; + state_.jerk = getJerkAtTime(active_profile_, state_.elapsed_time); + updateIsMovingFlag(); + return; + } + + state_.velocity = measured_velocity; + state_.acceleration = measured_acceleration; + state_.jerk = 0.0; + + active_profile_ = calculateProfile(state_.velocity, + state_.target_velocity, + state_.acceleration); + + state_.elapsed_time = 0.0; + state_.has_active_profile = active_profile_.total_time > EPSILON; + + updateIsMovingFlag(); +} + +void SCurveVelocityPlanner1D::setTargetVelocity(double target_velocity) +{ + const double new_target = clamp(target_velocity, -max_velocity_, max_velocity_); + + const bool same_target = + std::abs(new_target - state_.target_velocity) <= target_replan_threshold_; + + if (same_target && + state_.has_active_profile) { + return; + } + + if (same_target && + !state_.has_active_profile && + std::abs(state_.velocity - new_target) <= VELOCITY_THRESHOLD && + std::abs(state_.acceleration) <= ACCELERATION_THRESHOLD) { + return; + } + + state_.target_velocity = new_target; + + active_profile_ = calculateProfile(state_.velocity, + state_.target_velocity, + state_.acceleration); + + state_.elapsed_time = 0.0; + state_.has_active_profile = active_profile_.valid && active_profile_.total_time > EPSILON; + + updateIsMovingFlag(); +} + +double SCurveVelocityPlanner1D::getVelocityAtTime(const SCurveVelocityProfile& profile, double t) const +{ + if (!profile.valid) { + return profile.v0; + } + + if (t <= 0.0) { + return profile.v0; + } + if (t >= profile.total_time) { + return profile.vf; + } + + double v = profile.v0; + double a = profile.a0; + + auto process_segment = [&](double dt, double jerk) { + v += a * dt + 0.5 * jerk * dt * dt; + a += jerk * dt; + }; + + // seg1 + if (t <= profile.t1) { + process_segment(t, profile.j1); + return v; + } + process_segment(profile.t1, profile.j1); + + // seg2 + const double t_after_1 = t - profile.t1; + if (t_after_1 <= profile.t2) { + process_segment(t_after_1, profile.j2); + return v; + } + process_segment(profile.t2, profile.j2); + + // seg3 + const double t_after_2 = t_after_1 - profile.t2; + process_segment(t_after_2, profile.j3); + return v; +} + +double SCurveVelocityPlanner1D::getAccelerationAtTime(const SCurveVelocityProfile& profile, double t) const +{ + if (!profile.valid) { + return profile.a0; + } + + if (t <= 0.0) { + return profile.a0; + } + if (t >= profile.total_time) { + return 0.0; + } + + double a = profile.a0; + + auto process_segment = [&](double dt, double jerk) { + a += jerk * dt; + }; + + // seg1 + if (t <= profile.t1) { + process_segment(t, profile.j1); + return a; + } + process_segment(profile.t1, profile.j1); + + // seg2 + const double t_after_1 = t - profile.t1; + if (t_after_1 <= profile.t2) { + process_segment(t_after_1, profile.j2); + return a; + } + process_segment(profile.t2, profile.j2); + + // seg3 + const double t_after_2 = t_after_1 - profile.t2; + process_segment(t_after_2, profile.j3); + return a; +} + +double SCurveVelocityPlanner1D::getJerkAtTime(const SCurveVelocityProfile& profile, double t) const +{ + if (!profile.valid) { + return 0.0; + } + + if (t <= 0.0 || t >= profile.total_time) { + return 0.0; + } + + if (t <= profile.t1) { + return profile.j1; + } + if (t <= profile.t1 + profile.t2) { + return profile.j2; + } + return profile.j3; +} + +void SCurveVelocityPlanner1D::integrateWholeProfile(const SCurveVelocityProfile& profile, + double& v_end, + double& a_end) const +{ + double v = profile.v0; + double a = profile.a0; + + auto process_segment = [&](double dt, double jerk) { + v += a * dt + 0.5 * jerk * dt * dt; + a += jerk * dt; + }; + + process_segment(profile.t1, profile.j1); + process_segment(profile.t2, profile.j2); + process_segment(profile.t3, profile.j3); + + v_end = v; + a_end = a; +} + +bool SCurveVelocityPlanner1D::isVelocityLimitSatisfied(const SCurveVelocityProfile& profile) const +{ + if (!profile.valid) { + return true; + } + + std::vector check_times; + check_times.reserve(8); + + check_times.push_back(0.0); + check_times.push_back(profile.t1); + check_times.push_back(profile.t1 + profile.t2); + check_times.push_back(profile.total_time); + + // seg1 内部若 acceleration 过零，则 velocity 可能在段内出现极值 + if (std::abs(profile.j1) > EPSILON && profile.t1 > EPSILON) { + const double tz = -profile.a0 / profile.j1; + if (tz > EPSILON && tz < profile.t1 - EPSILON) { + check_times.push_back(tz); + } + } + + for (double t : check_times) { + const double v = getVelocityAtTime(profile, t); + if (std::abs(v) > max_velocity_ + 1e-7) { + return false; + } + } + + return true; +} + +SCurveVelocityProfile SCurveVelocityPlanner1D::calculateProfile(double start_velocity, + double end_velocity, + double start_acceleration) const +{ + SCurveVelocityProfile best; + best.v0 = clamp(start_velocity, -max_velocity_, max_velocity_); + best.a0 = clamp(start_acceleration, -max_acceleration_, max_acceleration_); + best.vf = clamp(end_velocity, -max_velocity_, max_velocity_); + + if (max_jerk_ <= EPSILON || max_acceleration_ <= EPSILON) { + // 退化情况：这里不做特殊退化规划，直接返回 invalid + return best; + } + + const double v0 = best.v0; + const double a0 = best.a0; + const double vf = best.vf; + + // 目标方向坐标：尽量统一到“signed frame 下 Δv >= 0” + double s = sign(vf - v0); + if (std::abs(vf - v0) <= VELOCITY_THRESHOLD) { + s = 1.0; + } + + const double dv = s * (vf - v0); // >= 0 + const double a0s = s * a0; // signed frame 下的初始 acceleration + const double j = max_jerk_; + const double amax = max_acceleration_; + + auto normalize_nonnegative = [](double x) { + return (x < 0.0 && x > -1e-10) ? 0.0 : x; + }; + + auto try_candidate = [&](double t1, double t2, double t3, + double j1s, double j2s, double j3s) { + t1 = normalize_nonnegative(t1); + t2 = normalize_nonnegative(t2); + t3 = normalize_nonnegative(t3); + + if (t1 < 0.0 || t2 < 0.0 || t3 < 0.0) { + return; + } + + SCurveVelocityProfile cand; + cand.t1 = t1; + cand.t2 = t2; + cand.t3 = t3; + cand.total_time = t1 + t2 + t3; + + cand.j1 = s * j1s; + cand.j2 = s * j2s; + cand.j3 = s * j3s; + + cand.v0 = v0; + cand.a0 = a0; + cand.vf = vf; + cand.valid = true; + + double vend = 0.0; + double aend = 0.0; + integrateWholeProfile(cand, vend, aend); + + if (std::abs(vend - vf) > 1e-5) { + return; + } + if (std::abs(aend) > 1e-5) { + return; + } + if (!isVelocityLimitSatisfied(cand)) { + return; + } + + if (!best.valid || cand.total_time < best.total_time) { + best = cand; + } + }; + + // ---------------- UDU 三角形（无平台） ---------------- + { + // Δv = (2A^2 - a0^2)/(2j) + const double A2 = 0.5 * (2.0 * j * dv + a0s * a0s); + if (A2 >= -1e-10) { + const double A = std::sqrt(std::max(0.0, A2)); + if (A <= amax + 1e-10 && A >= a0s - 1e-10) { + const double t1 = (A - a0s) / j; + const double t2 = 0.0; + const double t3 = A / j; + try_candidate(t1, t2, t3, +j, 0.0, -j); + } + } + } + + // ---------------- UDU 梯形（有平台） ---------------- + { + const double A = amax; + if (A > EPSILON && A >= a0s - 1e-10) { + const double base = (2.0 * A * A - a0s * a0s) / (2.0 * j); + const double t1 = (A - a0s) / j; + const double t2 = (dv - base) / A; + const double t3 = A / j; + try_candidate(t1, t2, t3, +j, 0.0, -j); + } + } + + // ---------------- DUD 三角形（无平台） ---------------- + { + // Δv = (a0^2 - 2B^2)/(2j) + const double B2 = 0.5 * (a0s * a0s - 2.0 * j * dv); + if (B2 >= -1e-10) { + const double B = std::sqrt(std::max(0.0, B2)); + if (B <= amax + 1e-10 && B >= -a0s - 1e-10) { + const double t1 = (a0s + B) / j; + const double t2 = 0.0; + const double t3 = B / j; + try_candidate(t1, t2, t3, -j, 0.0, +j); + } + } + } + + // ---------------- DUD 梯形（有平台） ---------------- + { + const double B = amax; + if (B > EPSILON && B >= -a0s - 1e-10) { + const double base = (a0s * a0s - 2.0 * B * B) / (2.0 * j); + const double t1 = (a0s + B) / j; + const double t2 = (base - dv) / B; + const double t3 = B / j; + try_candidate(t1, t2, t3, -j, 0.0, +j); + } + } + + // 已到终点附近 + if (!best.valid && + std::abs(vf - v0) <= VELOCITY_THRESHOLD && + std::abs(a0) <= ACCELERATION_THRESHOLD) { + best.valid = false; + best.total_time = 0.0; + best.v0 = v0; + best.a0 = a0; + best.vf = vf; + } + + return best; +} + +void SCurveVelocityPlanner1D::generateTrajectory(const SCurveVelocityProfile& profile, double dt, + std::vector& velocities, + std::vector& accelerations, + std::vector& jerks) const +{ + velocities.clear(); + accelerations.clear(); + jerks.clear(); + + if (!profile.valid || profile.total_time <= 0.0 || dt <= 0.0) { + velocities.push_back(profile.v0); + accelerations.push_back(profile.a0); + jerks.push_back(0.0); + return; + } + + const int num_points = static_cast(std::ceil(profile.total_time / dt)) + 1; + velocities.reserve(num_points); + accelerations.reserve(num_points); + jerks.reserve(num_points); + + for (double t = 0.0; t <= profile.total_time; t += dt) { + velocities.push_back(getVelocityAtTime(profile, t)); + accelerations.push_back(getAccelerationAtTime(profile, t)); + jerks.push_back(getJerkAtTime(profile, t)); + } + + if (velocities.empty() || std::abs(velocities.back() - profile.vf) > VELOCITY_THRESHOLD) { + velocities.push_back(profile.vf); + accelerations.push_back(0.0); + jerks.push_back(0.0); + } +} + +double SCurveVelocityPlanner1D::update(double dt) +{ + if (dt <= 0.0) { + return state_.velocity; + } + + if (!state_.has_active_profile || !active_profile_.valid) { + state_.jerk = 0.0; + updateIsMovingFlag(); + return state_.velocity; + } + + state_.elapsed_time += dt; + + if (state_.elapsed_time >= active_profile_.total_time) { + state_.elapsed_time = active_profile_.total_time; + state_.velocity = active_profile_.vf; + state_.acceleration = 0.0; + state_.jerk = 0.0; + state_.has_active_profile = false; + updateIsMovingFlag(); + return state_.velocity; + } + + state_.velocity = getVelocityAtTime(active_profile_, state_.elapsed_time); + state_.acceleration = getAccelerationAtTime(active_profile_, state_.elapsed_time); + state_.jerk = getJerkAtTime(active_profile_, state_.elapsed_time); + + updateIsMovingFlag(); + return state_.velocity; +} + +void SCurveVelocityPlanner1D::updateIsMovingFlag() +{ + state_.is_moving = + state_.has_active_profile || + std::abs(state_.velocity) > VELOCITY_THRESHOLD || + std::abs(state_.target_velocity) > VELOCITY_THRESHOLD || + std::abs(state_.acceleration) > ACCELERATION_THRESHOLD; +} + +} // namespace cmvr diff --git a/data/ik_movel_scurve.csv b/data/ik_movel_scurve.csv index 9e5a053e..61bd7747 100644 --- a/data/ik_movel_scurve.csv +++ b/data/ik_movel_scurve.csv @@ -1,169 +1,547 @@ t,q1,q2,q3,q4,q5,q6,q7 0,0.25,1,1.5707963267949,1.5707963267949,-1.5707963267949,0,0 0.002,0.25,1,1.5707963267949,1.5707963267949,-1.5707963267949,0,0 -0.004,0.250001842320363,1.00000035621738,1.57079547429742,1.57079444210524,-1.57079668301227,3.34430494936117e-07,1.42912469251269e-07 -0.006,0.250009211599068,1.00000178109261,1.57079206431392,1.57078690333631,-1.57079810788309,1.67216263610067e-06,7.14561905387093e-07 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+ acceleration [m/s2] + + + + + time [s] + + + + + + + + + gnuplot_plot_1a + + + + + + gnuplot_plot_2a + + + + gnuplot_plot_3a + + + + ZeroToRest + + + + ZeroToPositiveVf + + + + PositiveV0ToRest + + + + + + + + + + + gnuplot_plot_1a + + + + + + gnuplot_plot_2a + + + + gnuplot_plot_3a + + + + ZeroToRest + + + ZeroToRest + + + + + + ZeroToPositiveVf + + + ZeroToPositiveVf + + + + + + PositiveV0ToRest + + + PositiveV0ToRest + + + + + + + + + + + + + + + + SCurve Acceleration + + + + + + + diff --git a/data/s_curve_jerk.png b/data/s_curve_jerk.png new file mode 100644 index 00000000..26bdd840 Binary files /dev/null and b/data/s_curve_jerk.png differ diff --git a/data/s_curve_jerk.svg b/data/s_curve_jerk.svg new file mode 100644 index 00000000..9c43a0a9 --- /dev/null +++ b/data/s_curve_jerk.svg @@ -0,0 +1,518 @@ + + + +Gnuplot +Produced by GNUPLOT 5.4 patchlevel 2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + -10 + + + + + + + + + + + + + -5 + 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b/data/s_curve_position.svg new file mode 100644 index 00000000..27d2cfcb --- /dev/null +++ b/data/s_curve_position.svg @@ -0,0 +1,531 @@ + + + +Gnuplot +Produced by GNUPLOT 5.4 patchlevel 2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 + + + + + + + + + + + + + 1 + + + + + + + + + + + + + 2 + + + + + + + + + + + + + 3 + + + + + + + + + + + + + 4 + + + + + + + + + + + + + 5 + + + + + + + + + + + + + 0 + + + + + + + + + + + + + 0.5 + + + + + + + + + + + + + 1 + + + + + + + + + + + + + 1.5 + + + + + + + + + + + + + 2 + + + + + + + + + + + + + 2.5 + + + + + + + + + + + + + 3 + + + + + + + + + position [m] + + + + + time [s] + + + + + + + + + gnuplot_plot_1a + + + + + + gnuplot_plot_2a + + + + gnuplot_plot_3a + + + + ZeroToRest + + + + ZeroToPositiveVf + + + + PositiveV0ToRest + + + + + + + + + + + gnuplot_plot_1a + + + + + + gnuplot_plot_2a + + + + gnuplot_plot_3a + + + + ZeroToRest + + + ZeroToRest + + + + + + ZeroToPositiveVf + + + ZeroToPositiveVf + + + + + + PositiveV0ToRest + + + PositiveV0ToRest + + + + + + + + + + + + + + + + SCurve Position + + + + + + + diff --git a/data/s_curve_velocity.png b/data/s_curve_velocity.png new file mode 100644 index 00000000..887b0764 Binary files /dev/null and b/data/s_curve_velocity.png differ diff --git a/data/s_curve_velocity.svg b/data/s_curve_velocity.svg new file mode 100644 index 00000000..825bab4e --- /dev/null +++ b/data/s_curve_velocity.svg @@ -0,0 +1,544 @@ + + + +Gnuplot +Produced by GNUPLOT 5.4 patchlevel 2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 + + + + + + + + + + + + + 0.5 + + + + + + + + + + + + + 1 + + + + + + + + + + + + + 1.5 + + + + + + + + + + + + + 2 + + + + + + + + + + + + + 2.5 + + + + + + + + + + + + + 3 + + + + + + + + + + + + + 0 + + + + + + + + + + + + + 0.5 + + + + + + + + + + + + + 1 + + + + + + + + + + + + + 1.5 + + + + + + + + + + + + + 2 + + + + + + + + + + + + + 2.5 + + + + + + + + + + + + + 3 + + + + + + + + + velocity [m/s] + + + + + time [s] + + + + + + + + + gnuplot_plot_1a + + + + + + gnuplot_plot_2a + + + + gnuplot_plot_3a + + + + ZeroToRest + + + + ZeroToPositiveVf + + + + PositiveV0ToRest + + + + + + + + + + + gnuplot_plot_1a + + + + + + gnuplot_plot_2a + + + + gnuplot_plot_3a + + + + ZeroToRest + + + ZeroToRest + + + + + + ZeroToPositiveVf + + + ZeroToPositiveVf + + + + + + PositiveV0ToRest + + + PositiveV0ToRest + + + + + + + + + + + + + + + + SCurve Velocity + + + + + + + diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/bars.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/bars.h new file mode 100644 index 00000000..5eb672e3 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/bars.h @@ -0,0 +1,123 @@ +// +// Created by Alan Freitas on 2020-07-04. +// + +#ifndef MATPLOTPLUSPLUS_BARS_H +#define MATPLOTPLUSPLUS_BARS_H + +#include + +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +namespace matplot { + class axes_type; + class MATPLOT_EXPORTS bars : public axes_object { + public: + explicit bars(class axes_type *parent); + bars(class axes_type *parent, const std::vector &y); + bars(class axes_type *parent, + const std::vector> &Y); + bars(class axes_type *parent, const std::vector &x, + const std::vector &y); + bars(class axes_type *parent, const std::vector &x, + const std::vector> &Y); + + /// If we receive an axes_handle, we can convert it to a raw + /// pointer because there is no ownership involved here + template + bars(const axes_handle &parent, Args &&... args) + : bars(parent.get(), std::forward(args)...) {} + + virtual ~bars() = default; + + public /* xlim object virtual functions */: + // std::string set_variables_string() override; + std::string plot_string() override; + std::string legend_string(std::string_view title) override; + std::string data_string() override; + // std::string unset_variables_string() override; + bool requires_colormap() override; + double xmax() override; + double xmin() override; + double ymax() override; + double ymin() override; + enum axes_object::axes_category axes_category() override; + + public /* useful functions for bars */: + double x_minimum_difference(); + double x_end_point(size_t cluster_index, size_t index); + double cluster_width(); + double range_for_cluster(); + + public /* getters and setters */: + const color_array &face_color() const; + class bars &face_color(const color_array &face_color); + class bars &face_color(const std::array &face_color); + class bars &face_color(std::initializer_list face_color); + class bars &face_color(std::string_view color); + + const std::vector &face_colors() const; + std::vector &face_colors(); + + class bars &face_colors(const std::vector &face_colors); + + bool manual_face_color() const; + class bars &manual_face_color(bool manual_face_color); + + const color_array &edge_color() const; + class bars &edge_color(const color_array &edge_color); + class bars &edge_color(const std::array &edge_color); + class bars &edge_color(std::initializer_list face_color); + class bars &edge_color(std::string_view edge_color); + + const line_spec &edge_style() const; + class bars &edge_style(const line_spec &edge_style); + + float line_width() const; + class bars &line_width(float line_width); + + bool vertical_orientation() const; + class bars &vertical_orientation(bool vertical_orientation); + + bool visible() const; + class bars &visible(bool visible); + + float bar_width() const; + class bars &bar_width(float bar_width); + + public /* getters and setters bypassing the bars_spec */: + private: + /// If the user has not set the face color, + /// we get a color from the xlim + void maybe_update_face_colors(); + + protected: + // original data + std::vector x_; + std::vector> ys_; + + // color and style + std::vector face_colors_{{0.4f, 0, 0, 0}}; + bool manual_face_color_{false}; + color_array edge_color_{0, 0, 0, 0}; + line_spec edge_style_{"-"}; + float line_width_{0.5}; + bool vertical_orientation_{true}; + float bar_width_{0.8f}; + float cluster_width_{0.8f}; + + // True if visible + bool visible_{true}; + }; +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_BARS_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/box_chart.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/box_chart.h new file mode 100644 index 00000000..15684e13 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/box_chart.h @@ -0,0 +1,147 @@ +// +// Created by Alan Freitas on 2020-07-04. +// + +#ifndef MATPLOTPLUSPLUS_BOX_CHART_H +#define MATPLOTPLUSPLUS_BOX_CHART_H + +#include + +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +namespace matplot { + class axes_type; + class MATPLOT_EXPORTS box_chart : public axes_object { + public: + enum class box_style_option { + outline, // unfilled / dashed whiskers + filled, // filled / solid whiskers + violin, // show data distribution + }; + + public: + explicit box_chart(class axes_type *parent); + box_chart(class axes_type *parent, const std::vector &y_data, + const std::vector &groups = {}); + // box_chart(class xlim* parent, const std::vector& data, + // const std::vector& edges, enum + // box_chart::normalization normalization_alg = + // box_chart::normalization::count); box_chart(class xlim* + // parent, const std::vector& data, binning_algorithm + // algorithm = binning_algorithm::automatic, + // box_chart::normalization normalization_alg = + // box_chart::normalization::count); + + /// If we receive an axes_handle, we can convert it to a raw + /// pointer because there is no ownership involved here + template + box_chart(const axes_handle &parent, Args&&... args) + : box_chart(parent.get(), std::forward(args)...) {} + + virtual ~box_chart() = default; + public /* xlim object virtual functions */: + std::string set_variables_string() override; + std::string plot_string() override; + // std::string legend_string(const std::string& title) override; + std::string data_string() override; + std::string unset_variables_string() override; + bool requires_colormap() override; + // double xmax() override; + // double xmin() override; + // double ymax() override; + // double ymin() override; + enum axes_object::axes_category axes_category() override; + + public /* useful functions for box_charts */: + public /* getters and setters */: + const std::vector &y_data() const; + + class box_chart &y_data(const std::vector &y_data); + + const std::vector &x_data() const; + + class box_chart &x_data(const std::vector &x_data); + + const color_array &face_color() const; + + class box_chart &face_color(const color_array &face_color); + + bool manual_face_color() const; + + class box_chart &manual_face_color(bool manual_face_color); + + const color_array &edge_color() const; + + class box_chart &edge_color(const color_array &edge_color); + + float edge_width() const; + + class box_chart &edge_width(float edge_width); + + enum line_spec::marker_style whisker_style() const; + + class box_chart & + whisker_style(enum line_spec::marker_style whisker_style); + + float whisker_size() const; + + class box_chart &whisker_size(float whisker_size); + + bool whisker_face() const; + + class box_chart &whisker_face(bool whisker_face); + + bool jitter_outliers() const; + + class box_chart &jitter_outliers(bool jitter_outliers); + + float box_width() const; + + class box_chart &box_width(float box_width); + + float cap_size() const; + + class box_chart &cap_size(float cap_size); + + public /* getters and setters bypassing the line_spec */: + box_style_option box_style() const; + class box_chart &box_style(box_style_option box_style); + + private /* helper functions to generate the plot */: + void maybe_update_face_color(); + + protected: + // sample data + std::vector y_data_; + + // sample groups (same length as y_data_) + // this describes the groups and the positions at the same time + std::vector x_data_; + + // color and style + color_array face_color_{{0.4f, 0, 0, 0}}; + bool manual_face_color_{false}; + color_array edge_color_{0, 0, 0, 0}; + float edge_width_{0.5}; + enum line_spec::marker_style whisker_style_{ + line_spec::marker_style::circle}; + float whisker_size_{1.}; + bool whisker_face_{false}; + bool jitter_outliers_{false}; + float box_width_{0.5}; + box_style_option box_style_{box_style_option::filled}; + float cap_size_{3.}; + }; + +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_BOX_CHART_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/circles.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/circles.h new file mode 100644 index 00000000..aee5b8af --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/circles.h @@ -0,0 +1,120 @@ +// +// Created by Alan Freitas on 16/07/20. +// + +#ifndef MATPLOTPLUSPLUS_CIRCLES_H +#define MATPLOTPLUSPLUS_CIRCLES_H + +#include + +#include + +#include +#include +#include +#include +#include + +namespace matplot { + class axes_type; + class MATPLOT_EXPORTS circles : public axes_object { + public: + explicit circles(class axes_type *parent); + circles(class axes_type *parent, const std::vector &x, + const std::vector &y, + const std::vector &radius = {}, + const std::vector &start_angle = {}, + const std::vector &end_angle = {}, + const std::vector &color = {}); + + /// If we receive an axes_handle, we can convert it to a raw + /// pointer because there is no ownership involved here + template + circles(const axes_handle &parent, Args&&... args) + : circles(parent.get(), std::forward(args)...) {} + + virtual ~circles() = default; + public /* mandatory virtual functions */: + // std::string set_variables_string() override; + std::string plot_string() override; + std::string legend_string(std::string_view title) override; + std::string data_string() override; + // std::string unset_variables_string() override; + bool requires_colormap() override; + double xmax() override; + double xmin() override; + double ymax() override; + double ymin() override; + enum axes_object::axes_category axes_category() override; + + public /* getters and setters */: + const std::vector &x() const; + + class circles &x(const std::vector &x); + + const std::vector &y() const; + + class circles &y(const std::vector &y); + + const std::vector &radius() const; + + class circles &radius(const std::vector &radius); + + const std::vector &start_angle() const; + + class circles &start_angle(const std::vector &start_angle); + + const std::vector &end_angle() const; + + class circles &end_angle(const std::vector &end_angle); + + const std::vector &color() const; + + class circles &color(const std::vector &color); + + const labels_handle &labels() const; + + class circles &labels(const labels_handle &labels); + + const color_array &face_color() const; + + class circles &face_color(const color_array &face_color); + + float line_width() const; + + class circles &line_width(float line_width); + + const color_array &line_color() const; + + class circles &line_color(const color_array &line_color); + + bool visible() const; + + class circles &visible(bool visible); + + public /* getters and setters bypassing the line_spec */: + protected: + void maybe_update_circles_color(); + + protected: + std::vector x_{}; // x position + std::vector y_{}; // y position + std::vector radius_{}; // 1 + std::vector start_angle_{}; // 0 + std::vector end_angle_{}; // 360 + std::vector color_{}; // colormap + + // Labels around circles + labels_handle labels_; + + // Style + color_array face_color_; + bool user_face_color_{false}; + float line_width_{2.}; + color_array line_color_{0., 0., 0., 0.}; + + bool visible_{true}; + }; +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_CIRCLES_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/contours.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/contours.h new file mode 100644 index 00000000..3b725427 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/contours.h @@ -0,0 +1,291 @@ +// +// Created by Alan Freitas on 2020-07-04. +// + +#ifndef MATPLOTPLUSPLUS_CONTOURS_H +#define MATPLOTPLUSPLUS_CONTOURS_H + +#include + +#include +#include +#include +#include +#include + +#include + +#include +#include + +namespace matplot { + class axes_type; + + /// Create and store a set of contour lines or filled regions. + /// We have a class just for contours instead of using the + /// gnuplot surface. So we include functions here to + /// calculate the contour lines outside gnuplot. + /// The reason is that converting the gnuplot contours to + /// 2d xlim involves workarounds a 3d map view or plotting to a + /// temporary table, that don't interact well with other 2d + /// objects. It's also no possible to plot filled contours + /// with gnuplot. At most, one can plot a very high resolution + /// under the contour lines, but this is very. The only + /// way to have full control of how the contour lines will look + /// like is to calculate the contour lines outside gnuplot, + /// even if our algorithm is not perfect. + class MATPLOT_EXPORTS contours : public axes_object { + public: + /// X, Y grids and their Z values + /// Every X column has the same value for all rows. + /// This value increases in the next column. + /// Every Y row has the same value for all columns. + /// This value increases in the next rows. + /// Thus, the high values indices represent values + /// that are graphically on the top: + /// (X[3][0], Y[3][0]) (X[3][1], Y[3][1]) (X[3][2], Y[3][2]) + /// (X[2][0], Y[2][0]) (X[2][1], Y[2][1]) (X[2][2], Y[2][2]) + /// (X[1][0], Y[1][0]) (X[1][1], Y[1][1]) (X[1][2], Y[1][2]) + /// (X[0][0], Y[0][0]) (X[0][1], Y[0][1]) (X[0][2], Y[0][2]) + /// \param parent Parent xlim + /// \param X X grid + /// \param Y Y grid + /// \param Z Z heights + /// \param line_spec Line properties + contours(class axes_type *parent, const vector_2d &X, + const vector_2d &Y, const vector_2d &Z, + std::string_view line_spec = ""); + + contours(class axes_type *parent, const vector_2d &Z, + std::string_view line_spec = ""); + + /// If we receive an axes_handle, we can convert it to a raw + /// pointer because there is no ownership involved here + template + contours(const axes_handle &parent, Args &&... args) + : contours(parent.get(), std::forward(args)...) {} + + virtual ~contours() = default; + + public /* mandatory virtual functions */: + std::string set_variables_string() override; + std::string plot_string() override; + std::string legend_string(std::string_view title) override; + std::string data_string() override; + bool requires_colormap() override; + double xmax() override; + double xmin() override; + double ymax() override; + double ymin() override; + enum axes_object::axes_category axes_category() override; + + public /* getters and setters */: + class contours &line_style(std::string_view line_spec); + + const matplot::line_spec &line_spec() const; + matplot::line_spec &line_spec(); + class contours &line_spec(const class line_spec &line_spec); + + const vector_2d &Y_data() const; + class contours &Y_data(const vector_2d &Y_data); + + const vector_2d &X_data() const; + class contours &X_data(const vector_2d &X_data); + + const vector_2d &Z_data() const; + class contours &Z_data(const vector_2d &Z_data); + + const vector_2d &x_data() const; + class contours &x_data(const vector_2d &x_data); + + const vector_2d &y_data() const; + class contours &y_data(const vector_2d &y_data); + + const vector_2d &z_data() const; + class contours &z_data(const vector_2d &z_data); + + bool contour_text() const; + class contours &contour_text(bool contour_text); + + float font_size() const; + class contours &font_size(const float &font_size); + + const std::string font() const; + class contours &font(std::string_view font); + + const std::string &font_weight() const; + class contours &font_weight(std::string_view font_weight); + + const color_array &font_color() const; + class contours &font_color(const color_array &font_color); + class contours &font_color(std::string_view font_color); + + bool visible() const; + class contours &visible(bool visible); + + size_t n_levels() const; + class contours &n_levels(size_t n_levels); + + const std::vector &levels() const; + class contours &levels(const std::vector &levels); + + bool filled() const; + class contours &filled(bool filled); + + bool colormap_line_when_filled() const; + + class contours & + colormap_line_when_filled(bool colormap_line_when_filled); + + public /* getters and setters bypassing the line_spec */: + float line_width() const; + class contours &line_width(float line_width); + + const std::array &color() const; + + template contours &color(T c) { + line_spec().color(c); + return *this; + } + inline class contours &color(std::initializer_list c) { + line_spec().color(c); + return *this; + } + + protected: + void make_sure_data_is_preprocessed(); + void clear_preprocessed_data(); + bool is_lower_level(size_t line_index, size_t segment_begin, + size_t segment_end); + std::pair + fill_border_jump(double start_x, double start_y, double end_x, + double end_y, double x_min, double x_max, double y_min, + double y_max, bool is_parent); + + public: + enum class extend_option { neither, min, max, both }; + + /// Determine some automatic contour levels for data ranging from z_min + /// to z_max Each library will use a different algorithm to determine + /// levels. In our case, this is similar to the algorithm for automatic + /// histogram edges. The difference is that the final histogram edges + /// fall outside the range [z_min,z_max] while we want all contour lines + /// to fall inside [z_min,z_max] Select contour levels to span the data. + // The target number of levels, *N*, is used only when the + // scale is not log and default locator is used. + // + // We need two more levels for filled contours than for + // line contours, because for the latter we need to specify + // the lower and upper boundary of each range. + // + // For example, + // a single contour boundary, say at z = 0, requires only + // one contour line, but two filled regions, and therefore + // three levels to provide boundaries for both regions. + /// Assign values to :attr:`layers` based on :attr:`levels`, + /// adding extended layers as needed if contours are filled. + /// For line contours, layers simply coincide with levels; + /// a line is a thin layer. No extended levels are needed + /// with line contours. + static std::vector + determine_contour_levels(double z_min, double z_max, size_t n_levels_, + extend_option ext = extend_option::neither); + static std::vector + determine_contour_levels(const vector_2d &Z, size_t n_levels_, + extend_option ext = extend_option::neither); + + /// Return ``(lowers, uppers)`` levels for filled contours. + std::pair get_lowers_and_uppers(); + + void process_contour_levels(); + void initialize_preprocessed_data(); + void check_xyz(); + void initialize_x_y(); + + void process_all_segs_and_all_kinds(); + + double zmin() override; + double zmax() override; + + protected: + /// Pre-processed contour lines + std::vector lines_; + + /// Pre-processed contour lines for filled plots + /// This uses another algorithm for pairs of levels + /// We generate the lines twice for filled plots because + /// the closed polygons of filled plots are not good enough + /// to represent everything. + /// Also, this makes it much easier to label the unfilled lines. + std::vector filled_lines_; + + /// These codes indicate what's happening in a filled line + /// Starting a polygon, closing a polygon, or middle of a polygon + std::vector codes_; + + /// Object with the algorithm to generate contour lines + QuadContourGenerator contour_generator_; + + /// Segments of filled contours + using level_index_type = size_t; + using begin_index_type = size_t; + using end_index_type = size_t; + using area_type = double; + using line_segment_type = + std::tuple; + using parent_and_children_type = + std::tuple, + area_type>; + std::vector line_segments_; + + protected: + /// Line style + class line_spec line_spec_; + + /// Data in the xlim + vector_2d X_data_{}; + vector_2d Y_data_{}; + vector_2d Z_data_{}; + + /// Parameters + size_t n_levels_{0}; + bool manual_n_levels_{false}; + std::vector levels_{}; + bool manual_levels_{false}; + std::vector _levels{}; + std::vector layers_ = {}; + + /// Style + bool filled_{false}; + vector_1d linewidths_ = {}; + bool antialiased_ = false; + bool _corner_mask = false; + bool colormap_line_when_filled_ = false; + + /// Pre-processed data + std::vector linestyles_{}; + vector_1d extent_ = {}; + std::vector cmap_ = {}; + std::vector colors_ = {}; + double norm_ = NaN; + double vmin_ = NaN; + double vmax_ = NaN; + extend_option extend_ = extend_option::neither; + size_t nchunk_ = 0; + double zmin_{NaN}; + double zmax_{NaN}; + + /// Text around the lines + bool contour_text_{false}; + std::optional font_size_{std::nullopt}; + std::optional font_{std::nullopt}; + std::string font_weight_{"normal"}; + color_array font_color_{0, 0, 0, 0}; + + /// True if visible + bool visible_{true}; + }; + +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_CONTOURS_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/error_bar.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/error_bar.h new file mode 100644 index 00000000..998ca35a --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/error_bar.h @@ -0,0 +1,91 @@ +// +// Created by Alan Freitas on 09/07/20. +// + +#ifndef MATPLOTPLUSPLUS_ERROR_BAR_H +#define MATPLOTPLUSPLUS_ERROR_BAR_H + +#include +#include + +namespace matplot { + class axes_type; + + class MATPLOT_EXPORTS error_bar : public line { + public: + enum class type { vertical, horizontal, both }; + + public: + explicit error_bar(class axes_type *parent); + + /// Construct with x and y error + error_bar(class axes_type *parent, const std::vector &x, + const std::vector &y, + const std::vector &y_neg_delta, + const std::vector &y_pos_delta, + const std::vector &x_neg_delta, + const std::vector &x_pos_delta, + std::string_view line_spec = ""); + + /// Construct with y error only + error_bar(class axes_type *parent, const std::vector &x_data, + const std::vector &y_data, + const std::vector &error, + error_bar::type type = error_bar::type::vertical, + std::string_view line_spec = ""); + + /// If we receive an axes_handle, we can convert it to a raw + /// pointer because there is no ownership of the xlim + template + error_bar(const axes_handle &parent, Args&&... args) + : error_bar(parent.get(), std::forward(args)...) {} + + public /* override the plotting function for error_bar */: + std::string set_variables_string() override; + std::string plot_string() override; + std::string data_string() override; + bool requires_colormap() override; + std::string unset_variables_string() override; + enum axes_object::axes_category axes_category() override; + + public /* methods for error_bar only */: + const std::vector &x_negative_delta() const; + class error_bar & + x_negative_delta(const std::vector &x_negative_delta); + + const std::vector &x_positive_delta() const; + class error_bar & + x_positive_delta(const std::vector &x_positive_delta); + + const std::vector &y_negative_delta() const; + class error_bar & + y_negative_delta(const std::vector &y_negative_delta); + + const std::vector &y_positive_delta() const; + class error_bar & + y_positive_delta(const std::vector &y_positive_delta); + + float filled_curve_alpha() const; + class error_bar &filled_curve_alpha(float filled_curve_alpha); + + bool filled_curve() const; + class error_bar &filled_curve(bool filled_curve); + + float cap_size() const; + class error_bar &cap_size(float cap_size); + + protected: + std::vector x_negative_delta_{}; + std::vector x_positive_delta_{}; + std::vector y_negative_delta_{}; + std::vector y_positive_delta_{}; + + bool filled_curve_{false}; + float filled_curve_alpha_{0.9f}; + + float cap_size_{3.}; + }; + +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_ERROR_BAR_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/filled_area.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/filled_area.h new file mode 100644 index 00000000..c53a787e --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/filled_area.h @@ -0,0 +1,69 @@ +// +// Created by Alan Freitas on 09/07/20. +// + +#ifndef MATPLOTPLUSPLUS_FILLED_AREA_H +#define MATPLOTPLUSPLUS_FILLED_AREA_H + +#include +#include + +namespace matplot { + class axes_type; + + class MATPLOT_EXPORTS filled_area : public line { + public: + enum class type { vertical, horizontal, both }; + + public: + explicit filled_area(class axes_type *parent); + + /// Construct with x and y error + filled_area(class axes_type *parent, const std::vector &x, + const std::vector &y, + const std::vector &base_values = {0.}, + bool stacked = true, std::string_view line_spec = "k-"); + + /// If we receive an axes_handle, we can convert it to a raw + /// pointer because there is no ownership of the xlim + template + filled_area(const axes_handle &parent, Args&&... args) + : filled_area(parent.get(), std::forward(args)...) {} + + public /* override the plotting function for filled_area */: + std::string plot_string() override; + std::string data_string() override; + enum axes_object::axes_category axes_category() override; + + public /* methods for filled_area only */: + bool stacked() const; + class filled_area &stacked(bool stacked); + + const std::vector &base_data() const; + class filled_area &base_data(const std::vector &base_data); + + bool plot_base_line() const; + class filled_area &plot_base_line(bool plot_base_line); + + const color_array &face_color() const; + class filled_area &face_color(const color_array &face_color); + + bool fill_user_color() const; + class filled_area &fill_user_color(bool fill_user_color); + + private: + void maybe_update_face_color(); + + protected: + bool stacked_{true}; + + std::vector base_data_{0.}; + bool plot_base_line_{true}; + + color_array face_color_{0, 0, 0, 0}; + bool fill_user_color_{false}; + }; + +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_FILLED_AREA_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/function_line.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/function_line.h new file mode 100644 index 00000000..c9685c1f --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/function_line.h @@ -0,0 +1,85 @@ +// +// Created by Alan Freitas on 2020-07-06. +// + +#ifndef MATPLOTPLUSPLUS_FUNCTION_LINE_H +#define MATPLOTPLUSPLUS_FUNCTION_LINE_H + +#include +#include +#include +#include +#include + +namespace matplot { + class MATPLOT_EXPORTS function_line : public line { + public: + using function_type = std::function; + + public: + explicit function_line(class axes_type *parent); + + function_line(class axes_type *parent, const function_type &equation, + std::array x_range = {-5, 5}, + std::string_view line_spec = ""); + + function_line(class axes_type *parent, const function_type &function_x, + const function_type &function_y, + std::array t_range = {-5, 5}, + std::string_view line_spec = ""); + + function_line(class axes_type *parent, const function_type &function_x, + const function_type &function_y, + const function_type &function_z, + std::array t_range = {-5, 5}, + std::string_view line_spec = ""); + + /// If we receive an axes_handle, we can convert it to a raw + /// pointer because there is no ownership involved here + template + function_line(const axes_handle &parent, Args&&... args) + : function_line(parent.get(), std::forward(args)...) {} + + public: + std::string plot_string() override; + double xmax() override; + double xmin() override; + double ymax() override; + double ymin() override; + enum axes_object::axes_category axes_category() override; + + public: + const function_type &fn() const; + class function_line &fn(const function_type &fn); + + class function_line &tmin(double x); + class function_line &tmax(double x); + double tmin(); + double tmax(); + + const std::array &t_range() const; + class function_line &t_range(const std::array &t_range); + class function_line &t_range(double t_min, double t_max); + + size_t mesh_density() const; + class function_line &mesh_density(size_t mesh_density); + + bool automatic_mesh_density() const; + class function_line & + automatic_mesh_density(bool automatic_mesh_density); + + private: + void make_sure_data_is_preprocessed(); + + private: + std::array t_range_; + std::vector t_data_{}; + size_t mesh_density_{30}; + bool automatic_mesh_density_{true}; + function_type fn_x_{nullptr}; + function_type fn_y_{nullptr}; + function_type fn_z_{nullptr}; + }; +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_FUNCTION_LINE_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/histogram.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/histogram.h new file mode 100644 index 00000000..22e2a606 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/histogram.h @@ -0,0 +1,269 @@ +// +// Created by Alan Freitas on 2020-07-04. +// + +#ifndef MATPLOTPLUSPLUS_HISTOGRAM_H +#define MATPLOTPLUSPLUS_HISTOGRAM_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace matplot { + class axes_type; + class MATPLOT_EXPORTS histogram : public axes_object { + public: + // source code in 'edit histcount' + enum class binning_algorithm { + automatic, // Scott's rule for doubles or integers rule for data + // distributed around integers + scott, // Scott’s rule - bin_width = 3.5*std(x)*|X|^(-1/3) + fd, // Freedman-Diaconis rule - bin width = + // 2*IQR(X(:))*numel(X)^(-1/3) (for heavy tailed distributions, + // less sensitive to outliers) - IQR = interquartile range of X + integers, // Integer rule - bin width = 1 + sturges, // Sturges' rule - number of bins = ceil(1+log2(numel(X))) + sqrt // Square root rule - number of bins = ceil(sqrt(numel(X))) + }; + + enum class normalization { + count, // value_i = count_i + count_density, // value_i = count_i / bin_width_i + cummulative_count, // value_i = sum_j=1^i count_j + probability, // value_i = count_i / size -> (sum(heights) <= 1) + pdf, // value_i = count_i / (size * width_i) -> (sum(areas) <= 1) + cdf // value_i = sum_j=1^i count_j / size + }; + + public: + explicit histogram(class axes_type *parent); + histogram(class axes_type *parent, const std::vector &data, + size_t n_bins, + enum histogram::normalization normalization_alg = + histogram::normalization::count); + histogram(class axes_type *parent, const std::vector &data, + const std::vector &edges, + enum histogram::normalization normalization_alg = + histogram::normalization::count); + histogram(class axes_type *parent, const std::vector &data, + binning_algorithm algorithm = binning_algorithm::automatic, + histogram::normalization normalization_alg = + histogram::normalization::count); + + /// If we receive an axes_handle, we can convert it to a raw + /// pointer because there is no ownership involved here + template + histogram(const axes_handle &parent, Args&&... args) + : histogram(parent.get(), std::forward(args)...) {} + + virtual ~histogram() = default; + public /* xlim object virtual functions */: + // std::string set_variables_string() override; + std::string plot_string() override; + std::string legend_string(std::string_view title) override; + std::string data_string() override; + // std::string unset_variables_string() override; + double xmax() override; + double xmin() override; + double ymax() override; + double ymin() override; + enum axes_object::axes_category axes_category() override; + + public /* useful functions for histograms */: + /// Increase number of bins + size_t morebins(double bin_increase = 0.1); + + /// Decrease number of bins + size_t fewerbins(double bin_decrease = 0.1); + + /// Find appropriate edges given a fixed number of bins and target bin + /// width If nbins == 0, round the bin width and create + /// (xmax-xmin)/bin_width bins If nbins != 0, bin width is set to + /// (xmax-xmin)/nbins and create nbins bins + static std::vector bin_picker(double xmin, double xmax, + size_t nbins, double bin_width); + + /// Find appropriate edges with a given algorithm + static std::vector histogram_edges( + const std::vector &data, double minx, double maxx, + binning_algorithm algorithm = binning_algorithm::automatic, + bool hard_limits = false); + + /// Count points within each pair of edges + static std::vector + histogram_count(const std::vector &values, + const std::vector &edges); + + /// Normalize the instagram count + static std::vector + histogram_normalize(const std::vector &bin_count, + const std::vector &bin_edges, + size_t data_size, + enum normalization normalization_algorithm); + + public /* getters and setters */: + const std::vector &data() const; + class histogram &data(const std::vector &data); + + const std::vector &values() const; + class histogram &values(const std::vector &values); + + const std::vector &bin_counts() const; + class histogram &bin_counts(const std::vector &bin_counts); + + size_t num_bins(); + class histogram &num_bins(size_t num_bins); + + binning_algorithm algorithm() const; + class histogram &algorithm(binning_algorithm algorithm); + + std::vector &bin_edges(); + class histogram &bin_edges(const std::vector &bin_edges); + + double bin_width() const; + class histogram &bin_width(double bin_width); + + double bin_limits_min() const; + class histogram &bin_limits_min(double bin_limits_min); + + double bin_limits_max() const; + class histogram &bin_limits_max(double bin_limits_max); + + normalization normalization() const; + class histogram &normalization(enum normalization normalization); + + const color_array &face_color() const; + class histogram &face_color(const color_array &face_color); + class histogram &face_color(std::initializer_list face_color); + class histogram &face_color(std::string_view color); + + class histogram &face_alpha(float alpha); + class histogram &edge_alpha(float alpha); + + bool manual_face_color() const; + class histogram &manual_face_color(bool manual_face_color); + + const color_array &edge_color() const; + class histogram &edge_color(const color_array &edge_color); + class histogram &edge_color(std::initializer_list face_color); + class histogram &edge_color(std::string_view edge_color); + + const line_spec &edge_style() const; + class histogram &edge_style(const line_spec &edge_style); + + float line_width() const; + class histogram &line_width(float line_width); + + bool vertical_orientation() const; + class histogram &vertical_orientation(bool vertical_orientation); + + bool visible() const; + class histogram &visible(bool visible); + + float bar_width() const; + class histogram &bar_width(float bar_width); + + bool polar() const; + class histogram &polar(bool polar); + + bool stairs_only() const; + class histogram &stairs_only(bool stairs_only); + + /// Algorithms to determine histogram edges + static std::vector scotts_rule(const std::vector &x, + double minx, double maxx, + bool hard_limits); + static std::vector fd_rule(const std::vector &x, + double minx, double maxx, + bool hard_limits); + static std::vector integers_rule(const std::vector &x, + double minx, double maxx, + bool hard_limits); + static std::vector sqrt_rule(const std::vector &x, + double minx, double maxx, + bool hard_limits); + static std::vector sturges_rule(const std::vector &x, + double minx, double maxx, + bool hard_limits); + static std::vector automatic_rule(const std::vector &x, + double minx, double maxx, + bool hard_limits); + + public /* getters and setters bypassing the histogram_spec */: + private: + /// If the user has not set the face color, + /// we get a color from the xlim + void maybe_update_face_color(); + + /// Make sure we have already calculated the normalized values + /// for the current parameters. We reset the normalized values + /// every time the user changes the algorithm. + void make_sure_data_is_preprocessed(); + + protected: + // original data + std::vector data_; + + // normalized values (in the simplest case, values_ = bin_counts_) + std::vector values_; + + // number of elements in each bin + std::vector bin_counts_; + + // target num of bins (0 indicates no target: the algorithm should + // decide) + size_t num_bins_{0}; + + // algorithm we use to create the bins + binning_algorithm algorithm_; + + // where edges start + std::vector bin_edges_; + + // binning mode + enum binning_mode_type { + use_algorithm, // use algorithm to decide everything + use_bin_limits, // use algorithm with bin limits + use_fixed_num_bins, // use fixed num of bins + use_fixed_bin_width, // use fixed num of bins + use_fixed_edges, // use fixed edges, including edges of variable + // size + }; + binning_mode_type binning_mode_{binning_mode_type::use_algorithm}; + + // bin width (if zero, the algorithm determines the bin width) + double bin_width_{0.0}; + + // bin limits + double bin_limits_min_; + double bin_limits_max_; + + // normalization algorithm + enum normalization normalization_ { normalization::count }; + + // color and style + color_array face_color_{0.4f, 0, 0, 0}; + bool manual_face_color_{false}; + color_array edge_color_{0, 0, 0, 0}; + bool manual_edge_color_{false}; + line_spec edge_style_{"-"}; + float line_width_{0.5}; + bool vertical_orientation_{true}; + float bar_width_{1.0}; + bool polar_{false}; + bool stairs_only_{false}; + + // True if visible + bool visible_{true}; + }; + +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_HISTOGRAM_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/labels.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/labels.h new file mode 100644 index 00000000..b29c4d85 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/labels.h @@ -0,0 +1,112 @@ +// +// Created by Alan Freitas on 16/07/20. +// + +#ifndef MATPLOTPLUSPLUS_LABELS_H +#define MATPLOTPLUSPLUS_LABELS_H + +#include +#include +#include +#include +#include +#include +#include + +namespace matplot { + class axes_type; + class MATPLOT_EXPORTS labels : public axes_object { + public: + enum alignment { left, right, center, automatic }; + + public: + static constexpr double width_factor = 0.04; + static constexpr double height_factor = 0.08; + + public: + explicit labels(class axes_type *parent); + labels(class axes_type *parent, const std::vector &x, + const std::vector &y, + const std::vector &labels = {}, + const std::vector &color = {}, + const std::vector &sizes = {}); + + /// If we receive an axes_handle, we can convert it to a raw + /// pointer because there is no ownership involved here + template + labels(const axes_handle &parent, Args&&... args) + : labels(parent.get(), std::forward(args)...) {} + + virtual ~labels() = default; + public /* mandatory virtual functions */: + std::string set_variables_string() override; + std::string plot_string() override; + // std::string legend_string(const std::string& title) override; + std::string data_string() override; + std::string unset_variables_string() override; + double xmax() override; + double xmin() override; + double ymax() override; + double ymin() override; + enum axes_object::axes_category axes_category() override; + + public /* getters and setters */: + bool rectangles() const; + class labels &rectangles(bool rectangles); + + bool absolute_size() const; + class labels &absolute_size(bool absolute_size); + + enum alignment alignment() const; + class labels &alignment(enum alignment alignment); + + const std::vector &x() const; + class labels &x(const std::vector &x); + + const std::vector &y() const; + class labels &y(const std::vector &y); + + const std::vector &label_values() const; + class labels &label_values(const std::vector &labels); + + const std::vector &colors() const; + class labels &colors(const std::vector &colors); + + const std::vector &sizes() const; + class labels &sizes(const std::vector &sizes); + + bool visible() const; + class labels &visible(bool visible); + + const color_array &color() const; + class labels &color(const color_array &color); + template labels &color(T c) { + color(to_array(c)); + return *this; + } + + const std::string &font() const; + class labels &font(std::string_view font); + + float font_size() const; + class labels &font_size(float font_size); + + public /* getters and setters bypassing the line_spec */: + protected: + class line_spec line_spec_; + std::vector x_{}; // x position + std::vector y_{}; // y position + std::vector labels_{}; // 1 + std::vector colors_{}; // colormap + std::vector sizes_{}; // colormap + bool rectangles_{false}; // plot rectangles behind the words + bool absolute_size_{true}; // reduce font size for + bool visible_{true}; + enum alignment alignment_ { alignment::automatic }; + std::string font_{"Helvetica"}; + float font_size_{10}; + color_array color_{0, 0, 0, 0}; + }; +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_LABELS_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/line.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/line.h new file mode 100644 index 00000000..b3280d39 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/line.h @@ -0,0 +1,198 @@ +// +// Created by Alan Freitas on 2020-07-04. +// + +#ifndef MATPLOTPLUSPLUS_LINE_H +#define MATPLOTPLUSPLUS_LINE_H + +#include +#include +#include +#include +#include +#include +#include + +namespace matplot { + class axes_type; + class MATPLOT_EXPORTS line : public axes_object { + public: + explicit line(class axes_type *parent); + line(class axes_type *parent, const std::vector &y_data, + std::string_view line_spec = ""); + line(class axes_type *parent, const std::vector &x_data, + const std::vector &y_data, + std::string_view line_spec = ""); + line(class axes_type *parent, const std::vector &x_data, + const std::vector &y_data, + const std::vector &z_data, + std::string_view line_spec = ""); + + /// If we receive an axes_handle, we can convert it to a raw + /// pointer because there is no ownership involved here + template + line(const axes_handle &parent, Args &&... args) + : line(parent.get(), std::forward(args)...) {} + + virtual ~line() = default; + + public /* mandatory virtual functions */: + void run_draw_commands() override; + + std::string plot_string() override; + std::string legend_string(std::string_view title) override; + std::string data_string() override; + double xmax() override; + double xmin() override; + double ymax() override; + double ymin() override; + enum axes_object::axes_category axes_category() override; + bool requires_colormap() override; + + public /* getters and setters */: + class line &line_style(std::string_view line_spec); + + const matplot::line_spec &line_spec() const; + matplot::line_spec &line_spec(); + class line &line_spec(const class line_spec &line_spec); + + const std::vector &y_data() const; + class line &y_data(const std::vector &y_data); + + const std::vector &x_data() const; + class line &x_data(const std::vector &x_data); + + const std::vector &z_data() const; + class line &z_data(const std::vector &z_data); + + const std::vector &marker_indices() const; + class line &marker_indices(const std::vector &marker_indices); + + bool use_y2() const; + class line &use_y2(bool use_y_2); + + bool impulse() const; + class line &impulse(bool impulse); + + bool fill() const; + class line &fill(bool fill); + + bool use_y_2() const; + class line &use_y_2(bool use_y_2); + + bool polar() const; + class line &polar(bool polar); + + bool visible() const; + class line &visible(bool visible); + + public /* getters and setters bypassing the line_spec */: + float line_width() const; + class line &line_width(float line_width); + + enum line_spec::marker_style marker_style() const; + template line &marker_style(T marker_style) { + line_spec_.marker_style(marker_style); + return *this; + } + + enum line_spec::marker_style marker() const; + template line &marker(T marker) { + line_spec_.marker(marker); + return *this; + } + + float marker_size() const; + class line &marker_size(float size); + class line &marker_size(const std::vector &size_vector); + class line &marker_size(const std::vector &size_vector); + + bool marker_face() const; + class line &marker_face(bool size); + + const std::array &color() const; + template line &color(T c) { + line_spec().color(c); + return *this; + } + + inline class line &color(std::initializer_list c) { + line_spec().color(c); + return *this; + } + + const std::array &marker_color() const; + + template line &marker_color(T c) { + line_spec().marker_color(c); + return *this; + } + + inline class line &marker_color(std::initializer_list c) { + line_spec().marker_color(c); + return *this; + } + + inline class line &marker_colors(const std::vector &cs) { + marker_colors_ = cs; + touch(); + return *this; + } + + const std::array &marker_face_color() const; + + template line &marker_face_color(T c) { + line_spec().marker_face_color(c); + return *this; + } + + inline class line &marker_face_color(std::initializer_list c) { + line_spec().marker_face_color(c); + return *this; + } + + inline float marker_face_alpha() { + return line_spec().marker_face_alpha(); + } + + inline class line &marker_face_alpha(float a) { + line_spec().marker_face_alpha(a); + return *this; + } + + protected: + virtual std::vector styles_to_plot(); + void maybe_update_line_spec(); + + protected: + /// Line style + matplot::line_spec line_spec_; + + /// Data in the xlim + std::vector y_data_{}; + std::vector x_data_{}; + std::vector z_data_{}; + + /// Positions at which we want markers to appear + std::vector marker_indices_{}; + std::vector marker_sizes_{}; + std::vector marker_colors_{}; + + /// Draw line as impulse + bool impulse_{false}; + + /// Draw line as filled area + bool fill_{false}; + + /// Use the y2 xlim + bool use_y2_{false}; + + /// This line is meant for a polar plot + bool polar_{false}; + + /// True if visible + bool visible_{true}; + }; +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_LINE_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/matrix.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/matrix.h new file mode 100644 index 00000000..6f1d9298 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/matrix.h @@ -0,0 +1,156 @@ +// +// Created by Alan Freitas on 16/07/20. +// + +#ifndef MATPLOTPLUSPLUS_MATRIX_H +#define MATPLOTPLUSPLUS_MATRIX_H + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace matplot { + class axes_type; + + class MATPLOT_EXPORTS matrix : public axes_object { + public: + enum class color_normalization { none, rows, columns }; + + public: + explicit matrix(class axes_type *parent); + + /// Heatmap + /// Matrix of values that can be any double + matrix(class axes_type *parent, + const std::vector> &matrix); + + /// Matrix with an rgb image + matrix(class axes_type *parent, + const std::vector> &red_channel, + const std::vector> &green_channel, + const std::vector> &blue_channel, + const std::vector> &alpha_channel = {}); + + /// Matrix with a b&w image + matrix(class axes_type *parent, const image_channel_t &gray_image); + + /// Matrix with an rgb image + matrix(class axes_type *parent, const image_channel_t &red_channel, + const image_channel_t &green_channel, + const image_channel_t &blue_channel, + const image_channel_t &alpha_channel = {}); + + /// Matrices with an image + matrix(class axes_type *parent, const image_channels_t &rgb_image); + + /// If we receive an axes_handle, we can convert it to a raw + /// pointer because there is no ownership involved here + template + matrix(const axes_handle &parent, Args &&... args) + : matrix(parent.get(), std::forward(args)...) {} + + virtual ~matrix() = default; + + public /* mandatory virtual functions */: + // std::string set_variables_string() override; + std::string plot_string() override; + // std::string legend_string(const std::string& title) override; + std::string data_string() override; + // std::string unset_variables_string() override; + double xmax() override; + double xmin() override; + double ymax() override; + double ymin() override; + enum axes_object::axes_category axes_category() override; + + public /* getters and setters */: + color_normalization normalization() const; + class matrix &normalization(color_normalization normalization); + + const std::vector> &matrix_r() const; + class matrix & + matrix_r(const std::vector> &matrix_r); + + const std::vector> &matrix_g() const; + class matrix & + matrix_g(const std::vector> &matrix_g); + + const std::vector> &matrix_b() const; + class matrix & + matrix_b(const std::vector> &matrix_b); + + const std::vector> &matrix_a() const; + class matrix & + matrix_a(const std::vector> &matrix_a); + + bool always_hide_labels() const; + class matrix &always_hide_labels(bool always_hide_labels); + + double x() const; + class matrix &x(double x); + + double y() const; + class matrix &y(double y); + + double w() const; + class matrix &w(double w); + + double h() const; + class matrix &h(double h); + + double alpha() const; + class matrix &alpha(double alpha); + + public /* functions for matrixes */: + /// Matrix has three channels + bool is_rgb() const; + + /// Matrix has 4 channels + bool is_rgba() const; + + /// A matrix might have alpha because of an + /// alpha channels or because alpha_ != 0. + /// In both cases we have a rgba matrix + bool has_alpha() const; + + private: + bool should_plot_labels(); + void setup_axes(); + std::string matrix_data_string(); + std::string image_data_string(); + std::string labels_data_string(); + + inline double x_width() { + return (w_ - 1) / static_cast(matrices_[0][0].size() - 1); + } + + inline double y_width() { return (h_ - 1) / static_cast(matrices_[0].size() - 1); } + + protected: + // Main matrix + std::vector>> matrices_{}; + + // For heatmaps or 1 matrix + color_normalization normalization_{color_normalization::none}; + + // Matrix placement + double x_{1}; + double y_{1}; + double w_{0.}; + double h_{0.}; + + // Style + bool always_hide_labels_{false}; + labels_handle labels_; + double alpha_ = 0.0; + + bool visible_{true}; + }; +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_MATRIX_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/network.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/network.h new file mode 100644 index 00000000..9cbfbabb --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/network.h @@ -0,0 +1,278 @@ +// +// Created by Alan Freitas on 2020-07-04. +// + +#ifndef MATPLOTPLUSPLUS_NETWORK_H +#define MATPLOTPLUSPLUS_NETWORK_H + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace matplot { + class axes_type; + class MATPLOT_EXPORTS network : public axes_object { + public: + enum class layout { automatic, force, circle, kawai, random }; + + public: + explicit network(class axes_type *parent); + network(class axes_type *parent, + const std::vector> &edges, + const std::vector &weights, size_t n_vertices, + std::string_view line_spec = ""); + + /// If we receive an axes_handle, we can convert it to a raw + /// pointer because there is no ownership involved here + template + network(const axes_handle &parent, Args &&...args) + : network(parent.get(), std::forward(args)...) {} + + virtual ~network() = default; + public /* mandatory virtual functions */: + std::string plot_string() override; + std::string legend_string(std::string_view title) override; + std::string data_string() override; + double xmax() override; + double xmin() override; + double ymax() override; + double ymin() override; + enum axes_object::axes_category axes_category() override; + + public /* getters and setters */: + class network &line_style(std::string_view line_spec); + + const matplot::line_spec &line_spec() const; + matplot::line_spec &line_spec(); + class network &line_spec(const class line_spec &line_spec); + + const std::vector &y_data() const; + class network &y_data(const std::vector &y_data); + + const std::vector &x_data() const; + class network &x_data(const std::vector &x_data); + + const std::vector &z_data() const; + class network &z_data(const std::vector &z_data); + + const std::vector &marker_indices() const; + class network & + marker_indices(const std::vector &marker_indices); + + bool use_y2() const; + class network &use_y2(bool use_y_2); + + bool use_y_2() const; + class network &use_y_2(bool use_y_2); + + bool show_labels() const; + class network &show_labels(bool show_labels); + + bool directed() const; + class network &directed(bool directed); + + const std::vector &edge_labels() const; + class network &edge_labels(const std::vector &edge_labels); + + template + network &edge_labels(const IterableValues &e_labels) { + std::vector str_labels; + std::stringstream ss; + ss.precision(10); + ss << std::fixed; + for (const auto &edge_label : e_labels) { + ss << "{/:Italic " << edge_label << " }"; + str_labels.emplace_back(ss.str()); + ss.str(""); + } + edge_labels(str_labels); + return *this; + } + + const std::vector &node_labels() const; + class network &node_labels(const std::vector &node_labels); + + template + network &node_labels(const IterableValues &e_labels) { + std::vector str_labels; + std::stringstream ss; + ss.precision(10); + ss << std::fixed; + for (const auto &edge_label : e_labels) { + ss << edge_label; + str_labels.emplace_back(ss.str()); + ss.str(""); + } + node_labels(str_labels); + return *this; + } + + const std::vector &line_widths() const; + class network &line_widths(const std::vector &line_widths); + + const std::vector> &edges() const; + class network & + edges(const std::vector> &edges); + + class network &n_vertices(size_t n_vertices); + + const vector_1d &weights() const; + class network &weights(const vector_1d &weights); + + layout layout_algorithm() const; + class network &layout_algorithm(layout layout_algorithm); + + double layout_k() const; + class network &layout_k(double layout_k); + + int layout_iterations() const; + class network &layout_iterations(int layout_iterations); + + double energy_threshold() const; + class network &energy_threshold(double energy_threshold); + + const std::vector &marker_sizes() const; + class network &marker_sizes(const std::vector &marker_sizes); + + const std::vector &marker_colors() const; + + bool visible() const; + class network &visible(bool visible); + + public /* getters and setters bypassing the line_spec */: + float line_width() const; + class network &line_width(float line_width); + + enum line_spec::marker_style marker_style() const; + template network &marker_style(T marker_style) { + line_spec_.marker_style(marker_style); + return *this; + } + + enum line_spec::marker_style marker() const; + template network &marker(T marker) { + line_spec_.marker(marker); + return *this; + } + + float marker_size() const; + class network &marker_size(float size); + class network &marker_size(const std::vector &size_vector); + class network &marker_size(const std::vector &size_vector); + + bool marker_face() const; + class network &marker_face(bool size); + + const std::array &color() const; + template network &color(T c) { + line_spec().color(c); + return *this; + } + inline class network &color(std::initializer_list c) { + line_spec().color(c); + return *this; + } + + const std::array &marker_color() const; + + template network &marker_color(T c) { + line_spec().marker_color(c); + return *this; + } + + template network &node_color(T c) { + marker_color(c); + return *this; + } + + inline class network &marker_color(std::initializer_list c) { + line_spec().marker_color(c); + return *this; + } + + inline class network &marker_colors(const std::vector &cs) { + marker_colors_ = cs; + touch(); + return *this; + } + + const std::array &marker_face_color() const; + + template network &marker_face_color(T c) { + line_spec().marker_face_color(c); + return *this; + } + + inline class network & + marker_face_color(std::initializer_list c) { + line_spec().marker_face_color(c); + return *this; + } + + inline float marker_face_alpha() { + return line_spec().marker_face_alpha(); + } + + inline class network &marker_face_alpha(float a) { + line_spec().marker_face_alpha(a); + return *this; + } + + size_t n_vertices(); + + protected: + virtual std::vector styles_to_plot(); + void maybe_update_line_spec(); + void maybe_update_graph_layout(); + void infer_n_vertices(); + void process_random_layout(); + void process_force_layout(); + void process_circle_layout(); + void process_kawai_layout(); + + protected: + /// Line style + class line_spec line_spec_; + + /// Original graph + std::vector> edges_{}; + /// The number of number is declared by the user or infered from the + /// edges + size_t n_vertices_{0}; + /// Weight for each edge + vector_1d weights_{0}; + + /// True for directed graphs + bool directed_{false}; + + /// Data in the xlim + layout layout_algorithm_{layout::automatic}; + double layout_k_ = -1.; + int layout_iterations_ = -1; + double energy_threshold_ = 1e-2; + std::vector x_data_{}; + std::vector y_data_{}; + std::vector z_data_{}; + + /// Style + std::vector marker_sizes_{}; + std::vector marker_colors_{}; + bool show_labels_{true}; + std::vector edge_labels_{}; + std::vector node_labels_{}; + std::vector line_widths_{}; + + /// Use the y2 xlim + bool use_y2_{false}; + + /// True if visible + bool visible_{true}; + }; +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_NETWORK_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/parallel_lines.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/parallel_lines.h new file mode 100644 index 00000000..864ee7aa --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/parallel_lines.h @@ -0,0 +1,81 @@ +// +// Created by Alan Freitas on 15/07/20. +// + +#ifndef MATPLOTPLUSPLUS_PARALLEL_LINES_H +#define MATPLOTPLUSPLUS_PARALLEL_LINES_H + +#include +#include +#include +#include +#include +#include +#include + +namespace matplot { + class axes_type; + class MATPLOT_EXPORTS parallel_lines : public axes_object { + public: + explicit parallel_lines(class axes_type *parent); + parallel_lines(class axes_type *parent, + const std::vector> &data, + std::string_view line_spec = ""); + + /// If we receive an axes_handle, we can convert it to a raw + /// pointer because there is no ownership involved here + template + parallel_lines(const axes_handle &parent, Args&&... args) + : parallel_lines(parent.get(), std::forward(args)...) {} + + virtual ~parallel_lines() = default; + public /* mandatory virtual functions */: + std::string set_variables_string() override; + std::string plot_string() override; + std::string legend_string(std::string_view title) override; + std::string data_string() override; + std::string unset_variables_string() override; + enum axes_object::axes_category axes_category() override; + + public /* getters and setters */: + const matplot::line_spec &line_spec() const; + class parallel_lines &line_spec(const matplot::line_spec &line_spec); + + const std::vector> &data() const; + class parallel_lines & + data(const std::vector> &data); + + const std::vector &axis() const; + std::vector &axis(); + class parallel_lines &axis(const std::vector &axis); + + bool visible() const; + class parallel_lines &visible(bool visible); + + bool jitter() const; + class parallel_lines &jitter(bool jitter); + + const std::vector &line_widths() const; + class parallel_lines & + line_widths(const std::vector &line_widths); + + const std::vector &line_colors() const; + class parallel_lines & + line_colors(const std::vector &line_colors); + + public /* getters and setters bypassing the line_spec */: + protected: + void maybe_update_line_spec(); + + protected: + class line_spec line_spec_; + std::vector> data_{}; + std::vector axis_{}; + std::vector line_widths_{}; + std::vector line_colors_{}; + bool jitter_{true}; + bool visible_{true}; + }; +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_PARALLEL_LINES_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/stair.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/stair.h new file mode 100644 index 00000000..3a0ef12c --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/stair.h @@ -0,0 +1,66 @@ +// +// Created by Alan Freitas on 09/07/20. +// + +#ifndef MATPLOTPLUSPLUS_STAIR_H +#define MATPLOTPLUSPLUS_STAIR_H + +#include +#include + +namespace matplot { + class axes_type; + + class MATPLOT_EXPORTS stair : public line { + public: + enum class stair_style { + // trace change in x, then change in y + trace_x_first, + // trace change in y, then change in x + trace_y_first, + // histogram mode: trace + // (i) half change in x, + // (ii) then change in y, + // (iii) then half the change in x + histogram, + // fill change in x, then fill change in y + fill + }; + + public: + explicit stair(class axes_type *parent); + stair(class axes_type *parent, const std::vector &y_data, + std::string_view line_spec = ""); + stair(class axes_type *parent, const std::vector &x_data, + const std::vector &y_data, + std::string_view line_spec = ""); + + /// If we receive an axes_handle, we can convert it to a raw + /// pointer because there is no ownership involved here + template + stair(const axes_handle &parent, Args&&... args) + : stair(parent.get(), std::forward(args)...) {} + + public /* override the plotting function for stair */: + std::string plot_string() override; + // std::string data_string() override; + enum axes_object::axes_category axes_category() override; + + public /* methods for stair only */: + stair_style stair_style() const; + class stair &stair_style(enum stair_style stair_style); + + bool fill() const; + class stair &fill(bool fill); + + protected: + std::vector styles_to_plot() override; + + protected: + enum stair_style stair_style_ { stair_style::trace_x_first }; + bool fill_{false}; + }; + +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_STAIR_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/string_function.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/string_function.h new file mode 100644 index 00000000..ae3497d6 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/string_function.h @@ -0,0 +1,45 @@ +// +// Created by Alan Freitas on 2020-07-06. +// + +#ifndef MATPLOTPLUSPLUS_STRING_FUNCTION_H +#define MATPLOTPLUSPLUS_STRING_FUNCTION_H + +#include +#include +#include +#include +#include + +namespace matplot { + class MATPLOT_EXPORTS string_function : public line { + public: + explicit string_function(class axes_type *parent); + string_function(class axes_type *parent, std::string_view equation, + std::string_view line_spec = ""); + + /// If we receive an axes_handle, we can convert it to a raw + /// pointer because there is no ownership involved here + template + string_function(const axes_handle &parent, Args&&... args) + : string_function(parent.get(), std::forward(args)...) {} + + public: + std::string plot_string() override; + std::string data_string() override; + double xmax() override; + double xmin() override; + double ymax() override; + double ymin() override; + enum axes_object::axes_category axes_category() override; + + public: + const std::string &equation() const; + class string_function &equation(std::string_view equation); + + private: + std::string equation_; + }; +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_STRING_FUNCTION_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/surface.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/surface.h new file mode 100644 index 00000000..f608e141 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/surface.h @@ -0,0 +1,254 @@ +// +// Created by Alan Freitas on 2020-07-04. +// + +#ifndef MATPLOTPLUSPLUS_SURFACE_H +#define MATPLOTPLUSPLUS_SURFACE_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace matplot { + class axes_type; + + /// Surfaces might include data for contours but, if you only want contours, + /// it's best to use the contour, contourf, fcontour functions to plot it in + /// 2d + class MATPLOT_EXPORTS surface : public axes_object { + public: + explicit surface(class axes_type *parent); + + /// Grid surface + surface(class axes_type *parent, const vector_2d &X, const vector_2d &Y, + const vector_2d &Z, const vector_2d &C, + std::string_view line_spec = ""); + + /// Parametric surface + // surface(class xlim* parent, const vector_1d& x, const + // vector_1d& y, const vector_1d& z, const vector_1d& c, const + // std::string& line_spec = ""); + + /// If we receive an axes_handle, we can convert it to a raw + /// pointer because there is no ownership involved here + template + surface(const axes_handle &parent, Args&&... args) + : surface(parent.get(), std::forward(args)...) {} + + virtual ~surface() = default; + public /* mandatory virtual functions */: + std::string set_variables_string() override; + std::string plot_string() override; + std::string legend_string(std::string_view title) override; + std::string data_string() override; + double xmax() override; + double xmin() override; + double ymax() override; + double ymin() override; + enum axes_object::axes_category axes_category() override; + + public /* getters and setters */: + class surface &line_style(std::string_view line_spec); + + const matplot::line_spec &line_spec() const; + matplot::line_spec &line_spec(); + class surface &line_spec(const class line_spec &line_spec); + + const vector_2d &Y_data() const; + class surface &Y_data(const vector_2d &Y_data); + + const vector_2d &X_data() const; + class surface &X_data(const vector_2d &X_data); + + const vector_2d &Z_data() const; + class surface &Z_data(const vector_2d &Z_data); + + size_t norm() const; + class surface &norm(size_t norm); + + const vector_2d &x_data() const; + class surface &x_data(const vector_2d &x_data); + + const vector_2d &y_data() const; + class surface &y_data(const vector_2d &y_data); + + const vector_2d &z_data() const; + class surface &z_data(const vector_2d &z_data); + + bool hidden_3d() const; + class surface &hidden_3d(bool hidden_3_d); + + bool surface_visible() const; + class surface &surface_visible(bool surface_visible); + + bool surface_in_2d() const; + class surface &surface_in_2d(bool surface_in_2d); + + bool palette_map_at_bottom() const; + class surface &palette_map_at_bottom(bool palette_map_at_bottom); + + bool palette_map_at_surface() const; + class surface &palette_map_at_surface(bool palette_map_at_surface); + + bool palette_map_at_top() const; + class surface &palette_map_at_top(bool palette_map_at_top); + + bool contour_base() const; + class surface &contour_base(bool contour_base); + + bool contour_surface() const; + class surface &contour_surface(bool contour_surface); + + size_t contour_levels() const; + class surface &contour_levels(size_t contour_levels); + + const std::vector &contour_values() const; + class surface & + contour_values(const std::vector &contour_values); + + bool contour_text() const; + class surface &contour_text(bool contour_text); + + float font_size() const; + class surface &font_size(const float &font_size); + + const std::string font() const; + class surface &font(std::string_view font); + + const std::string &font_weight() const; + class surface &font_weight(std::string_view font_weight); + + const color_array &font_color() const; + class surface &font_color(const color_array &font_color); + class surface &font_color(std::string_view font_color); + + bool depthorder() const; + + class surface &depthorder(bool depthorder); + + float face_alpha() const; + class surface &face_alpha(float face_alpha); + + bool lighting() const; + class surface &lighting(bool lighting); + + float primary() const; + class surface &primary(float amount); + + float specular() const; + class surface &specular(float amount); + + const class line_spec &contour_line_spec() const; + class line_spec &contour_line_spec(); + class surface & + contour_line_spec(const class line_spec &contour_line_spec); + + bool curtain() const; + class surface &curtain(bool curtain); + + bool waterfall() const; + class surface &waterfall(bool waterfall); + + bool fences() const; + class surface &fences(bool fences); + + bool ribbons() const; + class surface &ribbons(bool ribbons); + + double ribbon_width() const; + class surface &ribbon_width(double ribbon_width); + + bool visible() const; + class surface &visible(bool visible); + + public /* getters and setters bypassing the line_spec */: + float line_width() const; + class surface &line_width(float line_width); + + const std::array &edge_color() const; + + template surface &edge_color(T c) { + line_spec().color(c); + touch(); + return *this; + } + + inline class surface &edge_color(std::initializer_list c) { + line_spec().color(c); + touch(); + return *this; + } + + double zmin() override; + double zmax() override; + + protected: + void maybe_update_line_spec(); + std::string grid_data_string(); + std::string ribbon_data_string(); + size_t create_line_index(); + + protected: + /// Data in the xlim + vector_2d X_data_{}; + vector_2d Y_data_{}; + vector_2d Z_data_{}; + vector_2d C_data_{}; + + /// Interpret data as a flat array of parametrics values + /// If false, data needs to represent a grid + /// If true, data represents a free form + bool is_parametric_{false}; + + /// Preprocess zmin / zmax + double zmin_{NaN}; + double zmax_{NaN}; + + /// Style + size_t norm_{2}; + bool hidden3d_{false}; + bool depthorder_{false}; + float face_alpha_{.95f}; + class line_spec line_spec_; + bool lighting_{false}; + float primary_{-1.}; + float specular_{-1.}; + bool curtain_{false}; + bool waterfall_{false}; + bool fences_{false}; + bool ribbons_{false}; + double ribbon_width_{0.75}; + + // Line surface + bool surface_visible_{true}; + bool surface_in_2d_{false}; + + // Solid surface + bool palette_map_at_bottom_{false}; + bool palette_map_at_surface_{true}; + bool palette_map_at_top_{false}; + + class line_spec contour_line_spec_; + bool contour_base_{false}; + bool contour_surface_{false}; + size_t contour_levels_{9}; + std::vector contour_values_{}; + + bool contour_text_{false}; + std::optional font_size_{std::nullopt}; + std::optional font_{std::nullopt}; + std::string font_weight_{"normal"}; + color_array font_color_{0, 0, 0, 0}; + + /// True if visible + bool visible_{true}; + }; +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_SURFACE_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/vectors.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/vectors.h new file mode 100644 index 00000000..d51965ee --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/vectors.h @@ -0,0 +1,258 @@ +// +// Created by Alan Freitas on 2020-07-04. +// + +#ifndef MATPLOTPLUSPLUS_VECTORS_H +#define MATPLOTPLUSPLUS_VECTORS_H + +#include +#include +#include +#include +#include +#include +#include + +namespace matplot { + class axes_type; + class MATPLOT_EXPORTS vectors : public axes_object { + public: + /// \brief Create empty vectors + explicit vectors(class axes_type *parent); + + /// \brief Create 2D vectors with fixed origin and incremental u + /// Origin xy = (0,0), u = {1,...n}, v = {v_data} + vectors(class axes_type *parent, const std::vector &v_data, + std::string_view line_spec = ""); + + /// \brief Create 2D vectors with fixed origin + /// Origin xy = (0,0), u = {u_data}, v = {v_data} + vectors(class axes_type *parent, const std::vector &u_data, + const std::vector &v_data, + std::string_view line_spec = ""); + + /// \brief Create 3D vectors with fixed origin + /// Origin xy = (0,0,0), u = {u_data}, v = {v_data}, w = {w_data} + vectors(class axes_type *parent, const std::vector &u_data, + const std::vector &v_data, + const std::vector &w_data, + std::string_view line_spec = ""); + + /// \brief Create 2D vectors with custom origin + vectors(class axes_type *parent, const std::vector &x_data, + const std::vector &y_data, + const std::vector &u_data, + const std::vector &v_data, + std::string_view line_spec = ""); + + /// \brief Create 2D vectors with custom origin and colors + vectors(class axes_type *parent, const std::vector &x_data, + const std::vector &y_data, + const std::vector &u_data, + const std::vector &v_data, + const std::vector &c_data, + std::string_view line_spec = ""); + + /// \brief Create 3D vectors with custom origin + vectors(class axes_type *parent, const std::vector &x_data, + const std::vector &y_data, + const std::vector &z_data, + const std::vector &u_data, + const std::vector &v_data, + const std::vector &w_data, + std::string_view line_spec = ""); + + /// \brief Create 3D vectors with custom origin and colors + vectors(class axes_type *parent, const std::vector &x_data, + const std::vector &y_data, + const std::vector &z_data, + const std::vector &u_data, + const std::vector &v_data, + const std::vector &w_data, + const std::vector &c_data, + std::string_view line_spec = ""); + + /// If we receive an axes_handle, we can convert it to a raw + /// pointer because there is no ownership involved here + template + vectors(const axes_handle &parent, Args &&...args) + : vectors(parent.get(), std::forward(args)...) {} + + virtual ~vectors() = default; + public /* mandatory virtual functions */: + std::string plot_string() override; + std::string legend_string(std::string_view title) override; + std::string data_string() override; + double xmax() override; + double xmin() override; + double ymax() override; + double ymin() override; + enum axes_object::axes_category axes_category() override; + + public /* getters and setters */: + class vectors &line_style(std::string_view line_spec); + + const matplot::line_spec &line_spec() const; + matplot::line_spec &line_spec(); + class vectors &line_spec(const class line_spec &line_spec); + + const std::vector &y_data() const; + class vectors &y_data(const std::vector &y_data); + + const std::vector &x_data() const; + class vectors &x_data(const std::vector &x_data); + + const std::vector &z_data() const; + class vectors &z_data(const std::vector &z_data); + + const std::vector &marker_indices() const; + class vectors & + marker_indices(const std::vector &marker_indices); + + bool use_y2() const; + class vectors &use_y2(bool use_y_2); + + bool impulse() const; + class vectors &impulse(bool impulse); + + bool fill() const; + class vectors &fill(bool fill); + + bool use_y_2() const; + class vectors &use_y_2(bool use_y_2); + + bool polar() const; + class vectors &polar(bool polar); + + bool visible() const; + class vectors &visible(bool visible); + + bool normalize() const; + class vectors &normalize(bool normalize); + + double scale() const; + class vectors &scale(double scale); + + public /* getters and setters bypassing the line_spec */: + float line_width() const; + class vectors &line_width(float line_width); + + enum line_spec::marker_style marker_style() const; + template vectors &marker_style(T marker_style) { + line_spec_.marker_style(marker_style); + return *this; + } + + enum line_spec::marker_style marker() const; + template vectors &marker(T marker) { + line_spec_.marker(marker); + return *this; + } + + float marker_size() const; + class vectors &marker_size(float size); + class vectors &marker_size(const std::vector &size_vector); + class vectors &marker_size(const std::vector &size_vector); + + bool marker_face() const; + class vectors &marker_face(bool size); + + const std::array &color() const; + template vectors &color(T c) { + line_spec().color(c); + return *this; + } + inline class vectors &color(std::initializer_list c) { + line_spec().color(c); + return *this; + } + + const std::array &marker_color() const; + + template vectors &marker_color(T c) { + line_spec().marker_color(c); + return *this; + } + + inline class vectors &marker_color(std::initializer_list c) { + line_spec().marker_color(c); + return *this; + } + + inline class vectors &marker_colors(const std::vector &cs) { + marker_colors_ = cs; + touch(); + return *this; + } + + const std::array &marker_face_color() const; + + template vectors &marker_face_color(T c) { + line_spec().marker_face_color(c); + return *this; + } + + inline class vectors & + marker_face_color(std::initializer_list c) { + line_spec().marker_face_color(c); + return *this; + } + + inline float marker_face_alpha() { + return line_spec().marker_face_alpha(); + } + + inline class vectors &marker_face_alpha(float a) { + line_spec().marker_face_alpha(a); + return *this; + } + + protected: + void maybe_update_line_spec(); + + protected: + /// Line style + class line_spec line_spec_; + + /// Vector origins + std::vector y_data_{}; + std::vector x_data_{}; + std::vector z_data_{}; + + /// Vector components + std::vector u_data_{}; + std::vector v_data_{}; + std::vector w_data_{}; + + /// Vector color mapping values + std::vector c_data_{}; + + /// Positions at which we want markers to appear + std::vector marker_indices_{}; + std::vector marker_sizes_{}; + std::vector marker_colors_{}; + + /// Scale of vectors + double scale_{1}; + + /// Draw line as impulse + bool impulse_{false}; + + /// Draw line as filled area + bool fill_{false}; + + /// Use the y2 xlim + bool use_y2_{false}; + + /// This line is meant for a polar plot + bool polar_{false}; + + /// True if visible + bool visible_{true}; + + /// True if vectors are normalized + bool normalize_{false}; + }; +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_VECTORS_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/backend/backend_interface.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/backend/backend_interface.h new file mode 100644 index 00000000..21185211 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/backend/backend_interface.h @@ -0,0 +1,222 @@ +// +// Created by Alan Freitas on 26/08/20. +// + +#ifndef MATPLOTPLUSPLUS_BACKEND_INTERFACE_H +#define MATPLOTPLUSPLUS_BACKEND_INTERFACE_H + +#include +#include +#include +#include + +namespace matplot { + class figure_type; + namespace backend { + /// Inherit from this class to create a new backend + /// - Interactive backends show the plots on a window + /// - Non-interactive backends save the plots to a file + /// - The only backend for which we currently provide a + /// concrete implementation is gnuplot pipes. A gnuplot + /// pipe can be an interactive or non-interactive depending + /// on the terminal. + /// - Unfortunately, backends based on gnuplot terminals + /// need to be treated differently because they consume + /// commands rather vertices. It might be technically + /// possible to come up with a workaround to make gnuplot + /// plot each vertex but this is definitely not worth it. + /// - The interface for backends that expect lists of + /// vertices to draw are somewhat inspired in ImGui backends + /// and Matplotlib backends. You can see some examples at: + /// https://github.com/matplotlib/matplotlib/blob/master/src/_backend_agg.h + /// https://github.com/ocornut/imgui/tree/master/examples + /// - If implementing such an interface, the functions + /// for gnuplot pipes should just be ignored. + /// - These are placeholders with no concrete implementation. + /// We still need to define the functions that generate vertices + /// in the classes that inherit from axes_object, and these + /// functions in the interface are likely to change as we + /// need. A good place to start is probably the line object, + /// which is fundamental for most plots. + class MATPLOT_EXPORTS backend_interface { + /// Virtual functions you can override to create any backend + public: + virtual ~backend_interface() noexcept = default; + /// \brief True if backend is in interactive mode + /// One backends might support both interactive and + /// non-interactive mode. + /// For instance, the gnuplot backend can support + /// both modes by changing its terminal. + /// It is also possible to export the OpenGL state + /// as an image with the glReadPixels function. + /// You can combine glReadPixels with CImg + /// to export the image in a variety of formats. + /// To export vector graphics from OpenGL, + /// libraries such as http://www.geuz.org/gl2ps/ + /// can be used. + virtual bool is_interactive(); + + /// \brief If non-interactive, get the file where we should output + /// our data + virtual const std::string &output(); + + /// \brief If non-interactive, get the format in which we should + /// output our data + virtual const std::string &output_format(); + + /// \brief If non-interactive, set the file where we should output + /// our data This function can use the file extension to + /// automatically set the output format + virtual bool output(const std::string &filename); + + /// \brief If non-interactive, set the file and the file format for + /// outputting data + virtual bool output(const std::string &filename, + const std::string &file_format); + + /// Get the current width + /// The user might have changed the image width manually. + /// Matplot++ needs to be aware of that. + virtual unsigned int width(); + + /// \brief Get height + virtual unsigned int height(); + + /// \brief Set width + /// For when the user programmatically sets the width + virtual void width(unsigned int new_width); + + /// \brief Set height + virtual void height(unsigned int new_height); + + /// \brief Get the current position_x (for interactive backends) + /// The user might have changed the image position_x manually. + /// Matplot++ needs to be aware of that. + virtual unsigned int position_x(); + + /// \brief Get position_y (for interactive backends) + virtual unsigned int position_y(); + + /// \brief Set position_x (for interactive backends) + /// For when the user programmatically sets the position_x + virtual void position_x(unsigned int new_position_x); + + /// \brief Set position_y (for interactive backends) + virtual void position_y(unsigned int new_position_y); + + /// \brief Set window title + virtual void window_title(const std::string& title); + + /// \brief Get window title + virtual std::string window_title(); + + /// \brief Tell the backend we are about to draw a new image + /// The backend might reject starting this new image + /// For instance, the user already closed the window + /// and there's no point in feeding commands to the backend + virtual bool new_frame(); + + /// \brief Tell the backend this new image is over + /// The backend is free to plot whatever it's been + /// buffering + /// \return True if everything is ok + virtual bool render_data(); + + /// \brief Tell the backend to wait for user interaction + /// Until then, the backend should block execution if possible + /// Figures use this in the show function + virtual void show(matplot::figure_type *); + + /// \brief True if the user requested to close the window + /// This function allows the backend to send a signal + /// indicating the user has asked to close the window + virtual bool should_close(); + + /// \brief True if the backend supports fonts + /// We can avoid some commands if it doesn't + virtual bool supports_fonts(); + + /// Public functions you need to override to create a new + /// backend based on vertices, such as OpenGL, Agg, etc... + /// These functions are likely to change as we come up + /// with concrete implementations based on vertices. + /// \see + /// https://github.com/matplotlib/matplotlib/blob/master/src/_backend_agg.h + /// \see https://github.com/ocornut/imgui/tree/master/examples + public: + /// \brief Draws background on the image + virtual void draw_background(const std::array &color); + + /// \brief Draws rectangle on the image + virtual void draw_rectangle(const double x1, const double x2, + const double y1, const double y2, + const std::array &color); + + /// \brief Draw a path on the image + /// Many backends will require the path to be floats + /// but Matplot++ words with doubles, so it's up to + /// the backend to implement this conversion however + /// it seems more efficient + virtual void draw_path(const std::vector &x, + const std::vector &y, + const std::array &color); + + /// \brief Draw markers on the image + virtual void draw_markers(const std::vector &x, + const std::vector &y, + const std::vector &z = {}); + + /// \brief Draw text on the image + virtual void draw_text(const std::vector &x, + const std::vector &y, + const std::vector &z = {}); + + /// \brief Draw image matrix on the image + virtual void + draw_image(const std::vector> &x, + const std::vector> &y, + const std::vector> &z = {}); + + /// \brief Draw rectangle on the image + virtual void draw_triangle(const std::vector &x, + const std::vector &y, + const std::vector &z = {}); + + /// We can certainly include more functions here, such as + /// draw_mesh, draw_rectangle, etc... + /// However, these functions should have a default implementation + /// that would recur to more primitive functions. + /// For instance, draw_rectangle should have a default + /// implementation to draw a rectangle based on two calls to + /// draw_triangle (for filled rectangles) or an implementation based + /// on draw_path (for unfilled rectangles). Otherwise, it would be + /// very expensive to start a new backend. These function should be + /// complementary functions that would be used to improve + /// performance on existing backends. + + /// Public functions you need to override only if your backend + /// is based on gnuplot + /// If not, just leave it as it is and the default implementations + /// should do just fine. + public: + /// \brief If true, this backend does not work by consuming vertices + /// Most functions above will be ignored. + /// The figure object will send gnuplot commands to this backend + /// instead of vertices. + /// The default implementation returns false. + virtual bool consumes_gnuplot_commands(); + + /// \brief Send line and newline to gnu plot pipe and flush + /// We can buffer the lines until the end of data is sent + virtual void run_command(const std::string &text); + + /// \brief Include a comment in the gnuplot code + /// This is useful when tracing the gnuplot commands + /// and when generating a gnuplot file. + virtual void include_comment(const std::string &text); + }; // class backend_interface + } // namespace backend + +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_BACKEND_INTERFACE_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/backend/backend_registry.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/backend/backend_registry.h new file mode 100644 index 00000000..274e7ac3 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/backend/backend_registry.h @@ -0,0 +1,33 @@ +// +// Created by Alan Freitas on 26/08/20. +// + +#ifndef MATPLOTPLUSPLUS_BACKEND_REGISTRY_H +#define MATPLOTPLUSPLUS_BACKEND_REGISTRY_H + +#include +#include +#include +#include + +namespace matplot { + template + std::shared_ptr create_backend(Args&&... args) { + if constexpr (std::is_base_of_v) { + std::shared_ptr dp = std::make_shared(std::forward(args)...); + std::shared_ptr bp = + std::dynamic_pointer_cast(dp); + return bp; + } else { + throw std::invalid_argument( + std::string("The class ") + typeid(BACKEND_TYPE).name() + + " does not derive from backend::backend_interface"); + } + } + + MATPLOT_EXPORTS + std::shared_ptr create_default_backend(); +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_BACKEND_REGISTRY_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/backend/gnuplot.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/backend/gnuplot.h new file mode 100644 index 00000000..1060b287 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/backend/gnuplot.h @@ -0,0 +1,145 @@ +// +// Created by Alan Freitas on 26/08/20. +// + +#ifndef MATPLOTPLUSPLUS_BACKEND_GNUPLOT_H +#define MATPLOTPLUSPLUS_BACKEND_GNUPLOT_H + +#include +#include +#include +#include +#include +#include + +namespace matplot::backend { + class MATPLOT_EXPORTS gnuplot : public backend_interface { + public: + gnuplot(); + virtual ~gnuplot(); + bool is_interactive() override; + const std::string &output() override; + const std::string &output_format() override; + bool output(const std::string &filename) override; + bool output(const std::string &filename, + const std::string &file_format) override; + unsigned int width() override; + unsigned int height() override; + unsigned int position_x() override; + unsigned int position_y() override; + void position_x(unsigned int new_position_x) override; + void position_y(unsigned int new_position_y) override; + void width(unsigned int new_width) override; + void height(unsigned int new_height) override; + bool new_frame() override; + bool render_data() override; + bool supports_fonts() override; + + public: + bool consumes_gnuplot_commands() override; + void run_command(const std::string &command) override; + void include_comment(const std::string &comment) override; + + public /* gnuplot pipe functions */: + /// We "render the data" by flushing the commands + bool flush_commands(); + + /// Identify the default terminal type in the system + static std::string default_terminal_type(); + static bool terminal_is_available(std::string_view); + static std::tuple gnuplot_version(); + static bool gnuplot_includes_legends(); + static bool gnuplot_has_wall_option(); + static bool gnuplot_supports_keyentry(); + static bool terminal_has_title_option(const std::string &t); + static bool terminal_has_size_option(const std::string &t); + static bool terminal_has_position_option(const std::string &t); + static bool terminal_has_enhanced_option(const std::string &t); + static bool terminal_has_color_option(const std::string &t); + static bool terminal_has_font_option(const std::string &t); + + public: /* gnuplot pipe constexprs */ + // True if the windows persist after closing the program + // False by default because this is VERY annoying in + // some repetitive tasks involving lots of plots + // You can change the default here or run the command + // set terminal "name" persist + static constexpr bool windows_should_persist_by_default = false; + + // True if we should wait at least 5 seconds after the last + // flush to close gnuplot + static constexpr bool dont_let_it_close_too_fast = false; + + // True if we allow to use the mouse interactively in the window + // Most of the time, this is just annoying when we scroll without + // meaning to It is very very hard to use the mouse properly + // http://www.gnuplot.info/files/gpReadMouseTest.c + static constexpr bool allow_using_mouse = true; + +#if defined(MATPLOT_TRACE_GNUPLOT_COMMANDS) && \ + !defined(MATPLOT_BUILD_FOR_DOCUMENTATION_IMAGES) + static constexpr bool trace_commands = true; +#else + static constexpr bool trace_commands = false; +#endif + + static constexpr size_t pipe_capacity_worst_case = BUFSIZ; + /// File formats for figures and properties of terminals + static constexpr std::array< + std::pair, 33> + extension_terminal() { + return std::array, + 33>{ + std::pair{".html", "canvas"}, std::pair{".cgm", "cgm"}, + std::pair{".txt", "dumb"}, std::pair{".md", "dumb"}, + std::pair{".dxf", "dxf"}, std::pair{".emf", "emf"}, + // std::pair{".emtex", "emtex"}, + std::pair{".eps", "postscript"}, std::pair{".eps", "epscairo"}, + std::pair{".eps", "epslatex"}, std::pair{".gif", "gif"}, + std::pair{".hpgl", "hpgl"}, std::pair{".jpeg", "jpeg"}, + std::pair{".jpg", "jpeg"}, std::pair{".tex", "epslatex"}, + std::pair{".mf", "mf"}, std::pair{".mp", "mp"}, + std::pair{".pcl5", "pcl5"}, std::pair{".pdf", "pdf"}, + std::pair{".pdf", "pdfcairo"}, std::pair{".png", "pngcairo"}, + std::pair{".png", "png"}, std::pair{".tex", "pslatex"}, + std::pair{".tex", "context"}, std::pair{".tex", "texdraw"}, + std::pair{".tex", "tikz"}, + // std::pair{".tex", "eepic"}, + // std::pair{".tex", "tpic"}, + std::pair{".pstex", "pstex"}, + std::pair{".pstricks", "pstricks"}, + // std::pair{".qms", "qms"}, + std::pair{".sixel", "sixelgd"}, std::pair{".svg", "svg"}, + std::pair{".tek40xx", "tek40xx"}, + std::pair{".tek410x", "tek410x"}, + // std::pair{".tgif", "tgif"}, + std::pair{".tkcanvas", "tkcanvas"}, + // std::pair{".tpic", "tpic"}, + std::pair{".vttek", "vttek"}}; + } + + private: + // Process pipe to gnuplot + opipe pipe_; + + // How many bytes we put in the pipe + size_t bytes_in_pipe_{0}; + + // Current gnuplot terminal we should + std::string terminal_{"qt"}; + + // Position and size + std::array position_{680, 558, 560, 420}; + + // Time we last flush, to avoid flushing results too fast + std::chrono::high_resolution_clock::time_point last_flush_; + + // File output, if non-interactive + std::string output_{}; + + // Whether we should include comments in the commands + bool include_comments_ = trace_commands; + }; +} // namespace matplot::backend + +#endif // MATPLOTPLUSPLUS_BACKEND_GNUPLOT_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/backend/opengl.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/backend/opengl.h new file mode 100644 index 00000000..9ae6c134 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/backend/opengl.h @@ -0,0 +1,40 @@ +// +// Created by Alan Freitas on 26/08/20. +// + +#ifndef MATPLOTPLUSPLUS_OPENGL_H +#define MATPLOTPLUSPLUS_OPENGL_H + +#include +#include +#include +#include + +namespace matplot::backend { + class MATPLOT_EXPORTS opengl : public opengl_embed { + public: + opengl(); + ~opengl(); + + public: + bool new_frame() override; + bool render_data() override; + void show(matplot::figure_type *) override; + bool should_close() override; + void window_title(const std::string& title) override; + std::string window_title() override; + + public: + static constexpr unsigned int default_screen_width = 560; + static constexpr unsigned int default_screen_height = 420; + static void initialize_glfw(); + static double get_time(); + private: + GLFWwindow *window_; + std::string window_title_; + std::mutex this_window_in_context_; + static bool glfw_is_initialized; + }; +} // namespace matplot::backend + +#endif // MATPLOTPLUSPLUS_OPENGL_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/backend/opengl_embed.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/backend/opengl_embed.h new file mode 100644 index 00000000..56cce9c4 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/backend/opengl_embed.h @@ -0,0 +1,112 @@ +// +// Created by Alan Freitas on 26/08/20. +// + +#ifndef MATPLOTPLUSPLUS_OPENGL_EMBED_H +#define MATPLOTPLUSPLUS_OPENGL_EMBED_H + +#include + +#ifdef __APPLE__ +/* Defined before OpenGL and GLUT includes to avoid deprecation messages on + * Apple */ +/* What the hell is Apple thinking? */ +#define GL_SILENCE_DEPRECATION +#endif + +/// Because OpenGL is only really a standard/specification it is up to +/// the driver manufacturer to implement the specification to a driver +/// that the specific graphics card supports. Since there are many +/// different versions of OpenGL drivers, the location of most of its +/// functions is not known at compile-time and needs to be queried at +/// run-time. GLAD is an open source library that manages all that +/// cumbersome work we talked about. +/// \see https://learnopengl.com/Getting-started/Creating-a-window +#include + +/// GLFW gives us the bare necessities required for rendering goodies +/// to the screen. It allows us to create an OpenGL context, define +/// window parameters, and handle user input +/// \see https://learnopengl.com/Getting-started/Creating-a-window +#include + +#include + +namespace matplot::backend { + class MATPLOT_EXPORTS opengl_embed : public backend_interface { + public: + opengl_embed(); + explicit opengl_embed(bool create_shaders); + ~opengl_embed(); + + public: + bool is_interactive() override; + const std::string &output() override; + const std::string &output_format() override; + bool output(const std::string &filename) override; + bool output(const std::string &filename, + const std::string &file_format) override; + unsigned int width() override; + unsigned int height() override; + void width(unsigned int new_width) override; + void height(unsigned int new_height) override; + unsigned int position_x() override; + unsigned int position_y() override; + void position_x(unsigned int new_position_x) override; + void position_y(unsigned int new_position_y) override; + bool new_frame() override; + // This is only a demonstration that is blocking the main thread. + // Because glfw does not work well with multiple threads, + // the challenge is to run the rendering loop in another thread + // while we see this function only to update what should be rendered. + bool render_data() override; + void show(matplot::figure_type *) override; + bool supports_fonts() override; + + public: + void draw_background(const std::array &color) override; + void draw_rectangle(const double x1, const double x2, + const double y1, const double y2, + const std::array &color) override; + void draw_path(const std::vector &x, + const std::vector &y, + const std::array &color) override; + void draw_markers(const std::vector &x, + const std::vector &y, + const std::vector &z = {}) override; + void draw_text(const std::vector &x, + const std::vector &y, + const std::vector &z = {}) override; + void + draw_image(const std::vector> &x, + const std::vector> &y, + const std::vector> &z = {}) override; + void draw_triangle(const std::vector &x, + const std::vector &y, + const std::vector &z = {}) override; + + public: + static constexpr unsigned int default_screen_width = 560; + static constexpr unsigned int default_screen_height = 420; + + /// \brief glfw: whenever the window size changed (by OS or user resize) + /// this callback function executes + static void framebuffer_size_callback(GLFWwindow *window, int width, + int height); + + /// \brief Process all input + /// Query GLFW whether relevant keys are pressed/released + /// this frame and react accordingly + static void process_input(GLFWwindow *window); + + void create_shaders(); + + private: + unsigned int draw_2d_single_color_shader_program_; + int n_vertex_attributes_available_; + unsigned int height_{default_screen_height}; + unsigned int width_{default_screen_width}; + }; +} // namespace matplot::backend + +#endif // MATPLOTPLUSPLUS_OPENGL_EMBED_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/core/axes_object.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/core/axes_object.h new file mode 100644 index 00000000..232498c6 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/core/axes_object.h @@ -0,0 +1,95 @@ +// +// Created by Alan Freitas on 2020-07-04. +// + +#ifndef MATPLOTPLUSPLUS_CHARTOBJECT_H +#define MATPLOTPLUSPLUS_CHARTOBJECT_H + +#include +#include +#include +#include + +namespace matplot { + class axes_type; + using axes_handle = std::shared_ptr; + + /// Abstract class for the objects we put in the xlim + class MATPLOT_EXPORTS axes_object { + public: + enum class axes_category { + two_dimensional, + three_dimensional, + three_dimensional_map, + polar + }; + + public: + explicit axes_object(class axes_type *parent); + + explicit axes_object(axes_handle parent); + + virtual ~axes_object() = default; + + public: + virtual double xmax(); + virtual double xmin(); + virtual double ymax(); + virtual double ymin(); + virtual double zmax(); + virtual double zmin(); + virtual axes_category axes_category(); + virtual bool requires_colormap(); + virtual std::string tag(); + virtual void tag(std::string_view); + bool is_3d(); + bool is_3d_map(); + bool is_2d(); + bool is_polar(); + + public /* for the backend */: + virtual void run_draw_commands(); + + public /* for gnuplot backend only */: + virtual std::string set_variables_string(); + + // Plot command for this object + virtual std::string plot_string() = 0; + + // Create a legend string for this object + // https://stackoverflow.com/questions/60617211/how-to-put-a-rectangle-in-the-key-with-same-hue-as-a-shaded-area-in-gnuplot/60624922#60624922 + virtual std::string legend_string(std::string_view legend); + + // Take a number of legends from the range [legends_begin, legends_end] + // and advance the legends_begin iterator. + // Objects might want to take care of more than one legend. + // They can overload this method to do that. + // If not, they can just inherit the simple legend_string method. + virtual std::string + legend_string(std::vector::iterator &legends_begin, + std::vector::iterator &legends_end); + + virtual std::string data_string(); + virtual std::string unset_variables_string(); + + public: + const class axes_type *parent() const; + class axes_type *&parent(); + void parent(class axes_type *&parent); + void touch(); + + // Objects might have their own display name + // In this case, we use the display name for legends + // instead of the strings in the legends object + const std::string &display_name() const; + void display_name(std::string_view display_name); + + protected: + std::string tag_{"axes_object"}; + std::string display_name_{""}; + class axes_type *parent_; + }; + +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_CHARTOBJECT_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/core/axes_type.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/core/axes_type.h new file mode 100644 index 00000000..caedf10e --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/core/axes_type.h @@ -0,0 +1,2894 @@ +// +// Created by Alan Freitas on 2020-07-04. +// + +#ifndef MATPLOTPLUSPLUS_AXES_TYPE_H +#define MATPLOTPLUSPLUS_AXES_TYPE_H + +#include + +#include +#include +#include + +#include +#include +#include + +#include +#include +#include +#include + +#include + + + +namespace matplot { + class MATPLOT_EXPORTS axes_type : public std::enable_shared_from_this { + public: + // {left bottom right top} + static constexpr std::array default_subplot_inset{.2f, .18f, + .04f, .1f}; + // {x, y, width, height} + static constexpr std::array default_axes_position{ + .13f, .11f, .775f, .815f}; + + public: + axes_type(); + + explicit axes_type(class figure_type *parent); + + axes_type(class figure_type *parent, std::array position); + + explicit axes_type(figure_handle parent); + + axes_type(figure_handle parent, std::array position); + + virtual ~axes_type() = default; + + public /* functions that operate the axes */: + /// Plot parent figure + void draw(); + + /// Touch parent figure + void touch(); + + /// Put an object in the axes + void emplace_object(axes_object_handle obj); + + /// Put object derived from axes_object_handle in the axes + template void emplace_object(std::shared_ptr obj) { + std::enable_if_t, + axes_object_handle> + ah = std::dynamic_pointer_cast(obj); + emplace_object(ah); + } + + /// Run commands to plot axes on the parent figure + void run_commands(); + void run_draw_commands(); + + /// Run command on the parent figure + void run_command(const std::string &command); + + /// Include a comment on the parent figure (command with #) + void include_comment(const std::string &command); + + /// Check the type of axes + bool is_3d(); + + bool is_3d_map(); + + bool is_2d(); + + bool is_polar(); + + /// Copy clone the axes and put it in another figure + axes_handle copy(figure_handle parent); + + /// Child limits (x_min, x_max, y_min, y_max) + std::array child_limits() const; + + public /* axes limits and axis ratios */: + /// \brief Sets limits on x-axis and y-axis + void axis(const std::array &limits_x_y); + + /// \brief Make axes visible / invisible + void axis(bool v); + + /// \brief Make x/y/z-axis limits automatic + void axis(keyword_automatic_type automatic); + + /// \brief Make x/y/z-axis limits manual + void axis(keyword_manual_type manual); + + /// \brief Reverse y-axis + void axis(keyword_ij_type); + + /// \brief Make x/y-axis ratio = 1 by changing the axis limits + void axis(keyword_equal_type); + + /// \brief Make x/y/z-axis limits tight from x/y/z-min to x/y/z-max + void axis(keyword_tight_type); + + /// \brief Make x/y-axis square with ratio 1 by changing the axes size + void axis(keyword_square_type); + + public /* properties */: + const std::array &position() const; + + void position(const std::array &position); + + float azimuth() const; + + void azimuth(float azimuth); + + float elevation() const; + + void elevation(float elevation); + + std::pair view() const; + + void view(float azimuth, float elevation); + + void rotate(float azimuth, float elevation); + + const float &x_origin() const; + + void x_origin(float x); + + const float &y_origin() const; + + void y_origin(float y); + + const float &width() const; + + void width(float w); + + const float &height() const; + + void height(float h); + + const class axis_type &x_axis() const; + + class axis_type &x_axis(); + + std::array xlim() const; + + void xlim(const std::array &); + + void xlim(keyword_automatic_type); + + void xlim(keyword_manual_type); + + const std::string &xlabel() const; + + void xlabel(std::string_view str); + + const std::string &xtickformat() const; + + void xtickformat(std::string_view str); + + const std::vector &xticks() const; + + void xticks(const std::vector &ticks); + + const std::vector &xticklabels() const; + + void xticklabels(const std::vector &labels); + + void xtickangle(double degrees); + + double xtickangle(); + + const class axis_type &x2_axis() const; + + class axis_type &x2_axis(); + + std::array x2lim() const; + + void x2lim(const std::array &); + + void x2lim(keyword_automatic_type); + + void x2lim(keyword_manual_type); + + const std::string &x2label() const; + + void x2label(std::string_view str); + + const std::string &x2tickformat() const; + + void x2tickformat(std::string_view str); + + const std::vector &x2ticks() const; + + void x2ticks(const std::vector &ticks); + + const std::vector &x2ticklabels() const; + + void x2ticklabels(const std::vector &labels); + + void x2tickangle(double degrees); + + double x2tickangle(); + + const class axis_type &y_axis() const; + + class axis_type &y_axis(); + + std::array ylim() const; + + void ylim(const std::array &); + + void ylim(keyword_automatic_type); + + void ylim(keyword_manual_type); + + const std::string &ylabel() const; + + void ylabel(std::string_view str); + + const std::string &ytickformat() const; + + void ytickformat(std::string_view str); + + const std::vector &yticks() const; + + void yticks(const std::vector &ticks); + + const std::vector &yticklabels() const; + + void yticklabels(const std::vector &labels); + + void ytickangle(double degrees); + + double ytickangle(); + + const class axis_type &y2_axis() const; + + class axis_type &y2_axis(); + + std::array y2lim() const; + + void y2lim(const std::array &); + + void y2lim(keyword_automatic_type); + + void y2lim(keyword_manual_type); + + const std::string &y2label() const; + + void y2label(std::string_view str); + + const std::string &y2tickformat() const; + + void y2tickformat(std::string_view str); + + const std::vector &y2ticks() const; + + void y2ticks(const std::vector &ticks); + + const std::vector &y2ticklabels() const; + + void y2ticklabels(const std::vector &labels); + + void y2tickangle(double degrees); + + double y2tickangle(); + + const class axis_type &z_axis() const; + + class axis_type &z_axis(); + + std::array zlim() const; + + void zlim(const std::array &); + + void zlim(keyword_automatic_type); + + void zlim(keyword_manual_type); + + const std::string &zlabel() const; + + void zlabel(std::string_view str); + + const std::string &ztickformat() const; + + void ztickformat(std::string_view str); + + const std::vector &zticks() const; + + void zticks(const std::vector &ticks); + + const std::vector &zticklabels() const; + + void zticklabels(const std::vector &labels); + + void ztickangle(double degrees); + + double ztickangle(); + + const class axis_type &cb_axis() const; + + class axis_type &cb_axis(); + + std::array cblim() const; + + void cblim(const std::array &); + + void cblim(keyword_automatic_type); + + void cblim(keyword_manual_type); + + const std::string &cblabel() const; + + void cblabel(std::string_view str); + + const std::string &cbtickformat() const; + + void cbtickformat(std::string_view str); + + const std::vector &cbticks() const; + + void cbticks(const std::vector &ticks); + + const std::vector &cbticklabels() const; + + void cbticklabels(const std::vector &labels); + + void cbtickangle(double degrees); + + double cbtickangle(); + + bool cb_vertical() const; + + void cb_vertical(bool cb_vertical); + + bool cb_inside() const; + + void cb_inside(bool cb_inside); + + const std::array &cb_position() const; + + void cb_position(const std::array &cb_position); + + const class axis_type &r_axis() const; + + class axis_type &r_axis(); + + std::array rlim() const; + + void rlim(const std::array &); + + void rlim(keyword_automatic_type); + + void rlim(keyword_manual_type); + + const std::string &rlabel() const; + + void rlabel(std::string_view str); + + const std::string &rtickformat() const; + + void rtickformat(std::string_view str); + + const std::vector &rticks() const; + + void rticks(const std::vector &ticks); + + const std::vector &rticklabels() const; + + void rticklabels(const std::vector &labels); + + void rtickangle(double degrees); + + double rtickangle(); + + const class axis_type &t_axis() const; + + class axis_type &t_axis(); + + std::array tlim() const; + + void tlim(const std::array &); + + void tlim(keyword_automatic_type); + + void tlim(keyword_manual_type); + + void t_axis(const class axis_type &t_axis); + + bool title_visible() const; + + void title_visible(bool title_visible); + + bool visible() const; + + void visible(bool visible); + + void limits_mode(keyword_automatic_type automatic); + + void limits_mode(keyword_manual_type manual); + + void limits_mode_automatic(bool automatic); + + bool limits_mode_automatic() const; + + void limits_mode_manual(bool automatic); + + bool limits_mode_manual() const; + + const std::string &title() const; + + void title(std::string_view title); + + bool title_enhanced() const; + + void title_enhanced(bool title_enhanced); + + bool axes_aspect_ratio_auto() const; + + void axes_aspect_ratio_auto(bool axes_aspect_ratio_auto); + + float axes_aspect_ratio() const; + + void axes_aspect_ratio(float x); + + const std::string &font() const; + + void font(std::string_view font); + + float font_size() const; + + void font_size(float font_size); + + const std::string &font_weight() const; + + void font_weight(std::string_view font_weight); + + bool clipping() const; + + void clipping(bool clipping); + + float label_font_size_multiplier() const; + + void label_font_size_multiplier(float label_font_size_multiplier); + + float title_font_size_multiplier() const; + + void title_font_size_multiplier(float title_font_size_multiplier); + + const std::string &title_font_weight() const; + + void title_font_weight(std::string_view title_font_weight); + + const color_array &title_color() const; + + void title_color(const color_array &title_color); + + const color_array &color() const; + + void color(const color_array &color); + + void color(const std::array &color); + + void color(std::string_view c); + + void color(const enum color &c); + + const std::vector &colororder() const; + + void colororder(const std::vector &colororder); + + template void colororder(const std::vector &order) { + std::vector cs; + for (const auto &c : order) { + cs.emplace_back(to_array(c)); + } + colororder(cs); + } + + size_t colororder_index() const; + + void colororder_index(size_t colororder_index); + + void bump_colororder_index(); + + color_array get_color_and_bump(); + + const color_array grid_color() const; + + void grid_color(const color_array &grid_color); + + float grid_alpha() const; + + void grid_alpha(float grid_alpha); + + bool handle_visibility() const; + + void handle_visibility(bool handle_visibility); + + float minor_grid_alpha() const; + + void minor_grid_alpha(float minor_grid_alpha); + + bool minor_grid_alpha_mode() const; + + void minor_grid_alpha_mode(bool minor_grid_alpha_mode); + + const color_array minor_grid_color() const; + + void minor_grid_color(const color_array &minor_grid_color); + + line_spec minor_grid_line_style() const; + + void minor_grid_line_style(line_spec minor_grid_line_style); + + bool grid() const; + + void grid(bool grid); + + bool minor_grid() const; + + void minor_grid(bool minor_grid); + + bool x_grid() const; + + void x_grid(bool x_grid); + + bool x_minor_grid() const; + + void x_minor_grid(bool x_minor_grid); + + bool y_grid() const; + + void y_grid(bool y_grid); + + bool y_minor_grid() const; + + void y_minor_grid(bool y_minor_grid); + + bool z_grid() const; + + void z_grid(bool z_grid); + + bool z_minor_grid() const; + + void z_minor_grid(bool z_minor_grid); + + bool r_grid() const; + + void r_grid(bool r_grid); + + bool r_minor_grid() const; + + void r_minor_grid(bool r_minor_grid); + + line_spec grid_line_style() const; + + void grid_line_style(line_spec grid_line_style); + + const std::string &line_style_order() const; + + void line_style_order(std::string_view line_style_order); + + size_t line_style_order_index() const; + + void line_style_order_index(size_t line_style_order_index); + + float line_width() const; + + void line_width(float line_width); + + bool next_plot_replace() const; + + void next_plot_replace(bool next_plot_replace); + + bool hold() const; + + void hold(bool v); + + const std::vector> &children() const; + + void + children(const std::vector> &children); + + void clear(); + + const legend_handle &legend() const; + + void legend(const legend_handle &legend); + + void legend(const std::vector &names); + + bool box() const; + + void box(bool box); + + bool box_full() const; + + void box_full(bool box); + + const std::vector> &colormap() const; + + void colormap(const std::vector> &colormap); + + color_array colormap_interpolation(double value, double min, + double max); + + size_t max_colors() const; + + void max_colors(size_t max_colors); + + bool color_box() const; + + void color_box(bool color_box); + + const std::pair color_box_range() const; + + void color_box_range(const std::pair &color_box_range); + + void color_box_range(double cb_min, double cb_max); + + bool color_box_log_scale() const; + + void color_box_log_scale(bool color_box_log_scale); + + bool grid_front() const; + + void grid_front(bool grid_front); + + const class figure_type *parent() const; + + class figure_type *parent(); + + void parent(class figure_type *); + + public /* create plots on the axes */: + /// Create simple line plot + line_handle plot(const std::vector &x, + const std::vector &y, + std::string_view line_spec = ""); + + /// Create line plot with automatic x = 1,2,...,n + line_handle plot(const std::vector &y, + std::string_view line_spec = ""); + + /// \brief Create many line plots at once with parameter pack + /// First two parameters are always 1) x and y or 2) y and line spec + /// If first two parameters are x and y, third parameter might be: + /// 1a) the line spec or 1b) the x2 for the next plot + /// If first two parameters are y and line spec, third parameter might + /// be: + /// 2a) the x2 for next plot (case 1 for next plot) or + /// 2b) the y for next plot (case 2 for next plot) + /// This function represents the case 1a, where 3rd parameter line spec + /// is a divider between plots + template + auto plot(const std::vector &x, const std::vector &y, + std::string_view line_spec, Args &&...args) { + std::vector result; + std::vector result_a = + vectorize(this->plot(x, y, line_spec)); + bool p = this->next_plot_replace(); + this->next_plot_replace(false); + std::vector result_b = + vectorize(this->plot(std::forward(args)...)); + this->next_plot_replace(p); + result.insert(result.end(), result_a.begin(), result_a.end()); + result.insert(result.end(), result_b.begin(), result_b.end()); + return result; + } + + /// \brief Create many line plots at once with parameter pack + /// First two parameters are always 1) x and y or 2) y and line spec + /// If first two parameters are x and y, third parameter might be: + /// 1a) the line spec or 1b) the x2 for the next plot + /// If first two parameters are y and line spec, third parameter might + /// be: + /// 2a) the x2 for next plot (case 1 for next plot) or + /// 2b) the y for next plot (case 2 for next plot) + /// This function represents the case 1b, where 3rd parameter x2 is a + /// divider between plots + template + auto plot(const std::vector &x, const std::vector &y, + const std::vector &x2, Args &&...args) { + std::vector result; + std::vector result_a = vectorize(this->plot(x, y)); + bool p = this->next_plot_replace(); + this->next_plot_replace(false); + std::vector result_b = + vectorize(this->plot(x2, std::forward(args)...)); + this->next_plot_replace(p); + result.insert(result.end(), result_a.begin(), result_a.end()); + result.insert(result.end(), result_b.begin(), result_b.end()); + return result; + } + + /// \brief Create many line plots at once with parameter pack + /// First two parameters are always 1) x and y or 2) y and line spec + /// If first two parameters are x and y, third parameter might be: + /// 1a) the line spec or 1b) the x2 for the next plot + /// If first two parameters are y and line spec, third parameter might + /// be: + /// 2a) the x2 for next plot (case 1 for next plot) or + /// 2b) the y for next plot (case 2 for next plot) + /// This function represents the case 2, where 2nd parameter line spec + /// is a divider between plots + template + auto plot(const std::vector &y, std::string_view line_spec, + Args &&...args) { + std::vector result; + std::vector result_a = + vectorize(this->plot(y, line_spec)); + bool p = this->next_plot_replace(); + this->next_plot_replace(false); + std::vector result_b = + vectorize(this->plot(std::forward(args)...)); + this->next_plot_replace(p); + result.insert(result.end(), result_a.begin(), result_a.end()); + result.insert(result.end(), result_b.begin(), result_b.end()); + return result; + } + + /// Plot lists of lists + std::vector plot(const std::vector &x, + const std::vector> &Y, + std::string_view line_spec = ""); + + /// Plot lists of lists with automatic x + std::vector plot(const std::vector> &Y, + std::string_view line_spec = ""); + + /// Plot lines representing a colormap + std::vector + rgbplot(const std::vector> &colormap); + + /// Plot 3d line plot + line_handle plot3(const std::vector &x, + const std::vector &y, + const std::vector &z, + std::string_view line_spec = ""); + + /// Plot 3d line plot - lists of Xs and Ys + std::vector + plot3(const std::vector> &X, + const std::vector> &Y, + const std::vector &z, std::string_view line_spec = ""); + + /// 3d-plot lists of Xs, Ys, and Zs + std::vector + plot3(const std::vector> &X, + const std::vector> &Y, + const std::vector> &Z, + std::string_view line_spec = ""); + + /// \brief Create many 3d line plots at once with parameter pack + /// The logic is the analogous to the plot function: + /// Case 1a: x, y, z, line_spec, next_x, ... + /// Case 1b: x, y, z, next_x, ... + /// Case 2: z, line_spec, next_x, ... + /// This function represents case 1a + template + auto plot3(const std::vector &x, const std::vector &y, + const std::vector &z, std::string_view line_spec, + Args &&...args) { + std::vector result; + std::vector result_a = + vectorize(this->plot3(x, y, z, line_spec)); + bool p = this->next_plot_replace(); + this->next_plot_replace(false); + std::vector result_b = + vectorize(this->plot3(std::forward(args)...)); + this->next_plot_replace(p); + result.insert(result.end(), result_a.begin(), result_a.end()); + result.insert(result.end(), result_b.begin(), result_b.end()); + return result; + } + + /// \brief Create many 3d line plots at once with parameter pack + /// The logic is the analogous to the plot function: + /// Case 1a: x, y, z, line_spec, next_x, ... + /// Case 1b: x, y, z, next_x, ... + /// Case 2: z, line_spec, next_x, ... + /// This function represents case 1b + template + auto plot3(const std::vector &x, const std::vector &y, + const std::vector &z, const std::vector &x2, + Args &&...args) { + std::vector result; + std::vector result_a = vectorize(this->plot3(x, y, z)); + bool p = this->next_plot_replace(); + this->next_plot_replace(false); + std::vector result_b = + vectorize(this->plot3(x2, std::forward(args)...)); + this->next_plot_replace(p); + result.insert(result.end(), result_a.begin(), result_a.end()); + result.insert(result.end(), result_b.begin(), result_b.end()); + return result; + } + + /// Create stairs line plot + stair_handle stairs(const std::vector &x, + const std::vector &y, + std::string_view line_spec = ""); + + /// Basic stairs function with automatic x + stair_handle stairs(const std::vector &y, + std::string_view line_spec = ""); + + /// Stairs with lists of lists (same x for all Y) + std::vector + stairs(const std::vector &x, + const std::vector> &Y, + std::string_view line_spec = ""); + + /// Stairs with lists of lists (one X per Y) + std::vector + stairs(const std::vector> &X, + const std::vector> &Y, + std::string_view line_spec = ""); + + /// Stairs with lists of lists with automatic x + std::vector + stairs(const std::vector> &Y, + std::string_view line_spec = ""); + + /// \brief Create many stairs at once with parameter pack + /// The logic is analogous to the plot function: + /// Case 1a: x, y, line_spec, next_x + /// Case 1b: x, y, next_x + /// Case 2 : y, line_spec, next_x + /// This function represents case 1a + template + auto stairs(const std::vector &x, const std::vector &y, + std::string_view line_spec, Args &&...args) { + std::vector result; + std::vector result_a = + vectorize(this->stairs(x, y, line_spec)); + bool p = this->next_plot_replace(); + this->next_plot_replace(false); + std::vector result_b = + vectorize(this->stairs(std::forward(args)...)); + this->next_plot_replace(p); + result.insert(result.end(), result_a.begin(), result_a.end()); + result.insert(result.end(), result_b.begin(), result_b.end()); + return result; + } + + /// \brief Create many stairs at once with parameter pack + /// The logic is analogous to the plot function: + /// Case 1a: x, y, line_spec, next_x + /// Case 1b: x, y, next_x + /// Case 2 : y, line_spec, next_x + /// This function represents case 1b + template + auto stairs(const std::vector &x, const std::vector &y, + const std::vector &x2, Args &&...args) { + std::vector result; + std::vector result_a = vectorize(this->stairs(x, y)); + bool p = this->next_plot_replace(); + this->next_plot_replace(false); + std::vector result_b = + vectorize(this->stairs(x2, std::forward(args)...)); + this->next_plot_replace(p); + result.insert(result.end(), result_a.begin(), result_a.end()); + result.insert(result.end(), result_b.begin(), result_b.end()); + return result; + } + + /// \brief Create many stairs at once with parameter pack + /// The logic is analogous to the plot function: + /// Case 1a: x, y, line_spec, next_x + /// Case 1b: x, y, next_x + /// Case 2 : y, line_spec, next_x + /// This function represents case 2 + template + auto stairs(const std::vector &y, std::string_view line_spec, + Args &&...args) { + std::vector result; + std::vector result_a = + vectorize(this->stairs(y, line_spec)); + bool p = this->next_plot_replace(); + this->next_plot_replace(false); + std::vector result_b = + vectorize(this->stairs(std::forward(args)...)); + this->next_plot_replace(p); + result.insert(result.end(), result_a.begin(), result_a.end()); + result.insert(result.end(), result_b.begin(), result_b.end()); + return result; + } + + /// Core errorbar function + error_bar_handle + errorbar(const std::vector &x, const std::vector &y, + const std::vector &error, + error_bar::type type = error_bar::type::vertical, + std::string_view line_spec = ""); + + /// Core errorbar function with different values on both directions + error_bar_handle errorbar(const std::vector &x, + const std::vector &y, + const std::vector &y_neg_delta, + const std::vector &y_pos_delta, + const std::vector &x_neg_delta, + const std::vector &x_pos_delta, + std::string_view line_spec = ""); + + /// If there is a string instead of a type the first version, we default + /// to vertical + error_bar_handle errorbar(const std::vector &x, + const std::vector &y, + const std::vector &y_error, + std::string_view line_spec); + + /// Core area function (x is a vector, y is a matrix) + std::vector + area(const std::vector &x, + const std::vector> &Y, double base_value = 0., + bool stacked = true, std::string_view line_spec = "k-"); + + /// Area: x is a vector, y is a vector + filled_area_handle area(const std::vector &x, + const std::vector &y, + double base_value = 0., bool stacked = true, + std::string_view line_spec = "k-"); + + /// Area: Automatic x, y is a matrix + std::vector + area(const std::vector> &Y, double base_value = 0., + bool stacked = true, std::string_view line_spec = "k-"); + + /// Area: Skip the base value + std::vector + area(const std::vector> &Y, bool stacked, + std::string_view line_spec = "k-"); + + /// Area: Automatic x, y is a vector + filled_area_handle area(const std::vector &y, + double base_value = 0., bool stacked = true, + std::string_view line_spec = "k-"); + + /// String function line plot + string_function_handle fplot(std::string_view equation, + std::string_view line_spec = ""); + + /// String function line plots + std::vector + fplot(std::vector equations, + std::vector line_specs = {}); + + /// Lambda function line plot + function_line_handle fplot(function_line::function_type equation, + const std::array &x_range = {-5, + 5}, + std::string_view line_spec = ""); + + /// Lambda function line plot - automatic limits + function_line_handle fplot(function_line::function_type equation, + std::string_view line_spec); + + /// Lambda function line plot - two functions (x/y) + function_line_handle fplot(function_line::function_type function_x, + function_line::function_type function_y, + const std::array &t_range = {-5, + 5}, + std::string_view line_spec = ""); + + /// Lambda function line plot - list of functions + std::vector + fplot(const std::vector &equations, + const std::array &x_range = {-5, 5}, + const std::vector &line_specs = {}); + + /// Lambda function line plot - list of functions and line specs + std::vector + fplot(const std::vector &equations, + const std::vector &x_range, + const std::vector &line_specs = {}); + + using implicit_function_type = std::function; + + /// Implicit lambda function line plot (one-level={0} contour) + line_handle + fimplicit(implicit_function_type equation, + const std::array &xy_interval = {-5, 5, -5, 5}, + std::string_view line_spec = ""); + + /// Implicit lambda function line plot - automatic xy_interval + line_handle fimplicit(implicit_function_type equation, + std::string_view line_spec); + + /// Lambda function plot 3D + function_line_handle fplot3(function_line::function_type function_x, + function_line::function_type function_y, + function_line::function_type function_z, + const std::array &t_range = {-5, + 5}, + std::string_view line_spec = ""); + + /// Histogram - Choose binning algorithm and normalization algorithm + histogram_handle hist(const std::vector &data, + histogram::binning_algorithm algorithm = + histogram::binning_algorithm::automatic, + enum histogram::normalization normalization_alg = + histogram::normalization::count); + + /// Histogram - Fixed number of bins + /// If n_bins = 0, automatic number of bins + histogram_handle hist(const std::vector &data, size_t n_bins); + + /// Histogram - Fixed edges + histogram_handle hist(const std::vector &data, + const std::vector &edges); + + /// Histogram - Normalization algorithm + histogram_handle hist(const std::vector &data, + enum histogram::normalization normalization_alg); + + /// Histogram - Categorical histogram from strings + histogram_handle hist(const std::vector &data, + enum histogram::normalization normalization_alg = + histogram::normalization::count); + + /// Core binscatter function for a given set of edges + /// This function returns a generic axes_object_handle because + /// it might be a scatter plot or a histogram plot + axes_object_handle binscatter( + const std::vector &x, const std::vector &y, + const std::vector &edges_x, + const std::vector &edges_y, + enum bin_scatter_style scatter_style = bin_scatter_style::automatic, + enum histogram::normalization normalization_alg = + histogram::normalization::count); + + /// Binscatter for a given algorithm + axes_object_handle binscatter( + const std::vector &x, const std::vector &y, + histogram::binning_algorithm algorithm = + histogram::binning_algorithm::automatic, + enum bin_scatter_style scatter_style = bin_scatter_style::automatic, + enum histogram::normalization normalization_alg = + histogram::normalization::count); + + /// Binscatter for a given bin scatter style + axes_object_handle + binscatter(const std::vector &x, const std::vector &y, + enum bin_scatter_style scatter_style, + histogram::binning_algorithm algorithm = + histogram::binning_algorithm::automatic, + enum histogram::normalization normalization_alg = + histogram::normalization::count); + + /// Binscatter for a given number of bins + axes_object_handle binscatter( + const std::vector &x, const std::vector &y, + size_t nbins_x, size_t nbins_y, + enum bin_scatter_style scatter_style = bin_scatter_style::automatic, + enum histogram::normalization normalization_alg = + histogram::normalization::count); + + /// Create boxplot from vector 1d + box_chart_handle boxplot(const std::vector &data); + + /// Create boxplot from vector 2d + box_chart_handle boxplot(const std::vector> &data); + + /// Create boxplot with groups + box_chart_handle boxplot(const std::vector &data, + const std::vector &groups); + + /// Create boxplot with group strings + box_chart_handle boxplot(const std::vector &y_data, + const std::vector &groups); + + /// Core bar function + bars_handle bar(const std::vector &x, + const std::vector &y); + + /// Bar - Automatic x + bars_handle bar(const std::vector &y); + + /// Bar - Many Y at once, automatic X + bars_handle bar(const std::vector> &Y); + + /// Bar - One X, many Y + bars_handle bar(const std::vector &x, + const std::vector> &Y); + + /// Bar - Automatic x - Custom width + bars_handle bar(const std::vector &y, double width); + + /// Bar stacked - Many Y - Automatic x + std::vector + barstacked(const std::vector> &Y); + + /// Bar stacked - One x - Many Y + std::vector + barstacked(const std::vector &x, + const std::vector> &Y); + + /// Core heatmap function + matrix_handle heatmap(const std::vector> &m); + + /// Pseudocolor plot + matrix_handle pcolor(const std::vector> &m); + + /// Core parallel plot function + parallel_lines_handle + parallelplot(const std::vector> &X, + const std::vector &colors, + std::string_view line_spec = ""); + + /// Parallel plot - default line colors + parallel_lines_handle + parallelplot(const std::vector> &X, + std::string_view line_spec = ""); + + /// Core pie function with explode values and labels + circles_handle pie(const std::vector &x, + const std::vector &explode = {}, + const std::vector &labels = {}); + + /// Pie function with labels + circles_handle pie(const std::vector &x, + const std::vector &labels); + + /// Core scatter function + line_handle scatter(const std::vector &x, + const std::vector &y, + const std::vector &sizes = {}, + const std::vector &colors = {}); + + /// Scatter function with same size for all points + line_handle scatter(const std::vector &x, + const std::vector &y, double sizes, + const std::vector &colors = {}); + + /// Core scatter3 function + line_handle scatter3(const std::vector &x, + const std::vector &y, + const std::vector &z, + const std::vector &sizes = {}, + const std::vector &colors = {}, + std::string_view line_spec = "o"); + + /// Scatter3 - Default sizes and colors + line_handle scatter3(const std::vector &x, + const std::vector &y, + const std::vector &z, + std::string_view line_spec); + + /// Core wordcloud function - Wordcloud from words + labels_handle wordcloud(const std::vector &words, + const std::vector &sizes, + const std::vector &custom_colors = {}); + + /// Wordcloud function - Sizes as size_t + labels_handle wordcloud(const std::vector &words, + const std::vector &sizes, + const std::vector &custom_colors = {}); + + /// Wordcloud from text + labels_handle + wordcloud(std::string_view text, + const std::vector &black_list, + std::string_view delimiters = " ',\n\r\t\".!?:;", + size_t max_cloud_size = 100, + const std::vector &custom_colors = {}); + + /// Core pareto function + std::pair + pareto(const std::vector &y, + const std::vector &names = {}, + double p_threshold = 0.95, size_t item_threshold = 10); + + /// Core plot function + line_handle stem(const std::vector &x, + const std::vector &y, + std::string_view line_spec = "-o"); + + /// Basic plot function with automatic x + line_handle stem(const std::vector &y, + std::string_view line_spec = "-o"); + + /// Stem - Plot lists of lists + std::vector stem(const std::vector &x, + const std::vector> &Y, + std::string_view line_spec = "-o"); + + /// Plot lists of lists with automatic x + std::vector stem(const std::vector> &Y, + std::string_view line_spec = "-o"); + + /// Stem 3d - Core function + line_handle stem3(const std::vector &x, + const std::vector &y, + const std::vector &z, + std::string_view line_spec = "-o"); + + /// 3d-stem lists of Xs and Ys + std::vector + stem3(const std::vector> &X, + const std::vector> &Y, + const std::vector &z, std::string_view line_spec = "-o"); + + /// Stem 3d - Automatic x and y + line_handle stem3(const std::vector &z, + std::string_view line_spec = "-o"); + + /// Stem 3d - Automatic x and y - Many Zs + line_handle stem3(const std::vector> &Z, + std::string_view line_spec = "-o"); + + /// Core geoplot function + circles_handle geobubble(const std::vector &latitude, + const std::vector &longitude, + const std::vector &sizes = {}, + const std::vector &colors = {}); + + /// Core geoplot function + line_handle geodensityplot(const std::vector &latitude, + const std::vector &longitude, + const std::vector &weights = {}); + + /// Plot world map on the axes + line_handle geoplot(); + + /// Core geoplot function - Plot lines on world map + line_handle geoplot(const std::vector &latitude, + const std::vector &longitude, + std::string_view line_spec = ""); + + /// Adjust limits and reload that region of the world map in the proper + /// resolution + void geolimits(const std::array &latitude, + const std::array &longitude); + + /// Adjust limits and reload that region of the world map in the proper + /// resolution + void geolimits(double latitude_min, double latitude_max, + double longitude_min, double longitude_max); + + /// Adjust limits and reload that region of the world map in the proper + /// resolution + void geolimits(const std::vector &latitude, + const std::vector &longitude); + + /// Core geoscatter function + line_handle geoscatter(const std::vector &latitude, + const std::vector &longitude, + const std::vector &sizes = {}, + const std::vector &colors = {}); + + /// Compass plot function + vectors_handle compass(const std::vector &x, + const std::vector &y, + std::string_view line_spec = ""); + + /// Ezpolar - Plot function on polar plot + string_function_handle ezpolar(std::string_view equation, + std::string_view line_spec = ""); + + std::vector + ezpolar(std::vector equations, + std::vector line_specs); + + function_line_handle ezpolar(function_line::function_type equation, + const std::array &t_range, + std::string_view line_spec = ""); + + function_line_handle ezpolar(function_line::function_type equation, + std::string_view line_spec = ""); + + function_line_handle ezpolar(function_line::function_type equation, + std::vector x_range, + std::string_view line_spec = ""); + + function_line_handle ezpolar(function_line::function_type function_x, + function_line::function_type function_y, + const std::array &t_range, + std::string_view line_spec = ""); + + function_line_handle ezpolar(function_line::function_type function_x, + function_line::function_type function_y, + std::vector t_range, + std::string_view line_spec = ""); + + std::vector + ezpolar(std::vector equations, + std::array x_range, + std::vector line_specs); + + std::vector + ezpolar(std::vector equations, + std::vector x_range, + std::vector line_specs); + + /// Polar histogram - Core function + histogram_handle polarhistogram(const std::vector &theta, + size_t nbins); + + /// Polar plot - Core function + line_handle polarplot(const std::vector &theta, + const std::vector &rho, + std::string_view line_spec = ""); + + /// Polar plot - Automatic theta + line_handle polarplot(const std::vector &rho, + std::string_view line_spec = ""); + + /// Polar plot - Complex numbers + line_handle polarplot(const std::vector> &z, + std::string_view line_spec = "*"); + + /// Polar scatter - Core function + line_handle + polarscatter(const std::vector &theta, + const std::vector &rho, + const std::vector &sizes = std::vector{}, + const std::vector &colors = std::vector{}, + std::string_view line_spec = "o"); + + /// Polar scatter - Single size - Default colors + line_handle polarscatter(const std::vector &theta, + const std::vector &rho, double size, + std::string_view line_spec = "o"); + + /// Polar scatter - Default size and colors + line_handle polarscatter(const std::vector &theta, + const std::vector &rho, + std::string_view line_spec); + + /// Contour - Core function - Manual levels + contours_handle contour(const std::vector> &X, + const std::vector> &Y, + const std::vector> &Z, + std::vector levels, + std::string_view line_spec = "", + size_t n_levels = 0); + + /// Contour - Manual number of levels (or 0 for automatic number of + /// levels) + contours_handle contour(const std::vector> &X, + const std::vector> &Y, + const std::vector> &Z, + size_t n_levels = 0, + std::string_view line_spec = ""); + + /// Contour - Automatic levels and number of levels + contours_handle contour(const std::vector> &X, + const std::vector> &Y, + const std::vector> &Z, + std::string_view line_spec); + + /// Contour filled - Manual levels + contours_handle contourf(const std::vector> &X, + const std::vector> &Y, + const std::vector> &Z, + std::vector levels, + std::string_view line_spec = "", + size_t n_levels = 0); + + /// Contour filled - Manual number of levels + contours_handle contourf(const std::vector> &X, + const std::vector> &Y, + const std::vector> &Z, + size_t n_levels = 0, + std::string_view line_spec = ""); + + /// Contour filled - Automatic number of levels + contours_handle contourf(const std::vector> &X, + const std::vector> &Y, + const std::vector> &Z, + std::string_view line_spec); + + using fcontour_function_type = std::function; + + /// Lambda function contour - Manual levels (or empty list for + /// automatic) / Manual number of levels (or 0 for automatic) + contours_handle fcontour(fcontour_function_type fn, + const std::array &xy_range, + std::vector levels = {}, + std::string_view line_spec = "", + size_t n_levels = 0); + + /// Lambda function contour - Manual number of levels (default = 9) + contours_handle fcontour(fcontour_function_type fn, size_t n_levels = 9, + std::string_view line_spec = ""); + + /// Lambda function contour - Automatic number of levels and levels + contours_handle fcontour(fcontour_function_type fn, + std::string_view line_spec); + + /// Feather - Core function + vectors_handle feather(const std::vector &u, + const std::vector &v, + std::string_view line_spec = ""); + + /// Quiver - Core function + vectors_handle quiver(const std::vector &x, + const std::vector &y, + const std::vector &u, + const std::vector &v, + const std::vector &c, double scale = 1.0, + std::string_view line_spec = ""); + + /// Quiver - 2d x,y,u,v + vectors_handle quiver(const std::vector> &x, + const std::vector> &y, + const std::vector> &u, + const std::vector> &v, + const std::vector> &c, + double scale = 1.0, + std::string_view line_spec = ""); + + /// Quiver - 2d x,y,u,v with no color mapping + vectors_handle quiver(const std::vector> &x, + const std::vector> &y, + const std::vector> &u, + const std::vector> &v, + double scale = 1.0, + std::string_view line_spec = ""); + + /// Quiver - x,y,u,v with no color mapping + vectors_handle quiver(const std::vector &x, + const std::vector &y, + const std::vector &u, + const std::vector &v, double scale = 1.0, + std::string_view line_spec = ""); + + /// Quiver 3d - Core function + vectors_handle + quiver3(const std::vector &x, const std::vector &y, + const std::vector &z, const std::vector &u, + const std::vector &v, const std::vector &w, + const std::vector &c, double scale = 1.0, + std::string_view line_spec = ""); + + /// Quiver 3d - 2d vectors + vectors_handle quiver3(const std::vector> &x, + const std::vector> &y, + const std::vector> &z, + const std::vector> &u, + const std::vector> &v, + const std::vector> &w, + const std::vector> &c, + double scale = 1.0, + std::string_view line_spec = ""); + + /// Quiver 3d - 2d vectors no color mapping + vectors_handle quiver3(const std::vector> &x, + const std::vector> &y, + const std::vector> &z, + const std::vector> &u, + const std::vector> &v, + const std::vector> &w, + double scale = 1.0, + std::string_view line_spec = ""); + + /// Quiver 3d - Automatic x and y - 2d vectors + vectors_handle quiver3(const std::vector> &z, + const std::vector> &u, + const std::vector> &v, + const std::vector> &w, + const std::vector> &c, + double scale = 1.0, + std::string_view line_spec = ""); + + /// Quiver 3d - Automatic x and y - 2d vectors no color mapping + vectors_handle quiver3(const std::vector> &z, + const std::vector> &u, + const std::vector> &v, + const std::vector> &w, + double scale = 1.0, + std::string_view line_spec = ""); + + /// Quiver 3d - no color mapping + vectors_handle + quiver3(const std::vector &x, const std::vector &y, + const std::vector &z, const std::vector &u, + const std::vector &v, const std::vector &w, + double scale = 1.0, std::string_view line_spec = ""); + + /// Fence - Core function + surface_handle fence(const std::vector> &X, + const std::vector> &Y, + const std::vector> &Z, + const std::vector &c = {}); + + // z = f(x,y) + using fmesh_function_type = std::function; + + /// Lambda function mesh - Core function + surface_handle fmesh(fcontour_function_type fn, + const std::array &x_range, + const std::array &y_range, + double mesh_density = 40); + + /// Lambda function mesh - parametric function + surface_handle + fmesh(fcontour_function_type funx, fcontour_function_type funy, + fcontour_function_type funz, const std::array &u_range, + const std::array &v_range, double mesh_density = 40); + + /// Lambda function mesh + /// Grid / Both ranges in the same array size 4 + surface_handle fmesh(fcontour_function_type fn, + const std::array &xy_range, + double mesh_density = 40); + + /// Lambda function mesh - Parametric + /// Parametric / Both ranges in the same array size 4 + surface_handle fmesh(fcontour_function_type funx, + fcontour_function_type funy, + fcontour_function_type funz, + const std::array &uv_range, + double mesh_density = 40); + + /// Function mesh + /// Grid / Both ranges in the same array size 2 + surface_handle fmesh(fcontour_function_type fn, + const std::array &xy_range = {-5, +5}, + double mesh_density = 40); + + /// Function mesh + /// Parametric / Both ranges in the same array size 2 + surface_handle fmesh(fcontour_function_type funx, + fcontour_function_type funy, + fcontour_function_type funz, + const std::array &uv_range = {-5, +5}, + double mesh_density = 40); + + // z = f(x,y) + using fsurf_function_type = std::function; + + /// Function surf - Core function + surface_handle fsurf(fcontour_function_type fn, + const std::array &x_range, + const std::array &y_range, + std::string_view line_spec = "", + double mesh_density = 40); + + /// Function surf - Parametric + surface_handle + fsurf(fcontour_function_type funx, fcontour_function_type funy, + fcontour_function_type funz, const std::array &u_range, + const std::array &v_range, + std::string_view line_spec = "", double mesh_density = 40); + + /// Function surf + /// Grid / Both ranges in the same array size 4 + surface_handle fsurf(fcontour_function_type fn, + const std::array &xy_range, + std::string_view line_spec = "", + double mesh_density = 40); + + /// Parametric / Both ranges in the same array size 4 + surface_handle fsurf(fcontour_function_type funx, + fcontour_function_type funy, + fcontour_function_type funz, + const std::array &uv_range, + std::string_view line_spec = "", + double mesh_density = 40); + + /// Function surf + /// Grid / Both ranges in the same array size 2 + surface_handle fsurf(fcontour_function_type fn, + const std::array &xy_range = {-5, +5}, + std::string_view line_spec = "", + double mesh_density = 40); + + /// Function surf + /// Parametric / Both ranges in the same array size 2 + surface_handle fsurf(fcontour_function_type funx, + fcontour_function_type funy, + fcontour_function_type funz, + const std::array &uv_range = {-5, +5}, + std::string_view line_spec = "", + double mesh_density = 40); + + /// Function surf + /// Grid / Both ranges in the same array size 2 + surface_handle fsurf(fcontour_function_type fn, + std::initializer_list &xy_range, + std::string_view line_spec = "", + double mesh_density = 40) { + if (xy_range.size() == 2) { + return fsurf(fn, to_array<2>(xy_range), line_spec, + mesh_density); + } else if (xy_range.size() == 4) { + return fsurf(fn, to_array<4>(xy_range), line_spec, + mesh_density); + } + throw std::invalid_argument( + "fsurf: xy_range needs to have size 2 or 4"); + } + + /// Function surf + /// Parametric / Both ranges in the same array size 2 + inline surface_handle fsurf(fcontour_function_type funx, + fcontour_function_type funy, + fcontour_function_type funz, + std::initializer_list &uv_range, + std::string_view line_spec = "", + double mesh_density = 40) { + if (uv_range.size() == 2) { + return fsurf(funx, funy, funz, to_array<2>(uv_range), line_spec, + mesh_density); + } else if (uv_range.size() == 4) { + return fsurf(funx, funy, funz, to_array<4>(uv_range), line_spec, + mesh_density); + } + throw std::invalid_argument( + "fsurf: uv_range needs to have size 2 or 4"); + } + + /// Mesh - Core function + surface_handle mesh(const std::vector> &X, + const std::vector> &Y, + const std::vector> &Z, + const std::vector> &C = {}); + + /// Mesh with contour + surface_handle meshc(const std::vector> &X, + const std::vector> &Y, + const std::vector> &Z, + const std::vector> &C = {}); + + /// Mesh with curtain + /// Core function + surface_handle meshz(const std::vector> &X, + const std::vector> &Y, + const std::vector> &Z, + const std::vector> &C = {}); + + /// Ribbon + surface_handle ribbon(const std::vector> &X, + const std::vector> &Y, + const std::vector> &Z, + const std::vector> &C = {}, + double width = 0.75); + + /// Surf - Core function + surface_handle surf(const std::vector> &X, + const std::vector> &Y, + const std::vector> &Z, + const std::vector> &C = {}, + std::string_view line_spec = ""); + + /// Surf with contour - Core function + surface_handle surfc(const std::vector> &X, + const std::vector> &Y, + const std::vector> &Z, + const std::vector> &C = {}); + + /// Waterfall - Core function + surface_handle + waterfall(const std::vector> &X, + const std::vector> &Y, + const std::vector> &Z, + const std::vector> &C = {}); + + /// Graph - Undirected - Core function + network_handle + graph(const std::vector> &edges, + const std::vector &weights = {}, size_t n_vertices = 0, + std::string_view line_spec = "-o"); + + network_handle + graph(const std::vector> &edges, + std::string_view line_spec); + + /// B&W image show - Core function + matrix_handle + imshow(const std::vector> &gray_scale_img); + + /// Core RGB / RGBA imshow function + matrix_handle + imshow(const std::vector> &r_channel, + const std::vector> &g_channel, + const std::vector> &b_channel, + const std::vector> &a_channel = {}); + + /// Image show from 2d vectors with image channels + matrix_handle + imshow(const std::vector>> &img); + + /// Image show from filename + matrix_handle imshow(const std::string &filename); + + /// Display array as image + matrix_handle image(const std::vector> &C, + bool scaled_colorbar = false); + + /// Display 3 arrays as image + matrix_handle image(const std::vector> &r_channel, + const std::vector> &g_channel, + const std::vector> &b_channel, + bool scaled_colorbar = false); + + /// Show 2d-array as image + matrix_handle image(double x_min, double x_max, double y_min, + double y_max, + const std::vector> &C, + bool scaled_colorbar = false); + + /// Show image from tuple of rgb 2d vectors + matrix_handle + image(const std::tuple>, + std::vector>, + std::vector>> &img); + + /// Annotate plot with text + /// \param x Positions + /// \param y Positions + /// \param texts Texts + /// \return + labels_handle text(const std::vector &x, + const std::vector &y, + const std::vector &texts); + + /// Annotate plot with single text + labels_handle text(double x, double y, std::string_view str); + + /// Annotate plot with same text at many positions + labels_handle text(const std::vector &x, + const std::vector &y, std::string_view str); + + /// Annotate plot with arrow + vectors_handle arrow(double x1, double y1, double x2, double y2); + + /// Annotate plot with single line between two points + line_handle line(double x1, double y1, double x2, double y2); + + /// Annotate plot with text and arrow + std::pair + textarrow(double x1, double y1, double x2, double y2, + std::string_view str); + + /// Annotate plot with rectangle + line_handle rectangle(double x, double y, double w, double h, + double curvature = 0.); + + /// Annotate plot with text in a box + std::pair + textbox(double x, double y, double w, double h, std::string_view str); + + /// Annotate plot with a filled polygon + line_handle fill(const std::vector &x, + const std::vector &y, + std::string_view line_spec = ""); + + line_handle ellipse(double x, double y, double w, double h); + + public /* create plots on the axes from ranges we can convert to + std::vector */ + : + template + line_handle plot(const IterableValues &x, + const IterableValues &y, + std::string_view line_spec = "") { + return plot(to_vector_1d(x), to_vector_1d(y), line_spec); + } + + template + line_handle plot(const IterableValues &y, + std::string_view line_spec = "") { + return plot(to_vector_1d(y), line_spec); + } + + template + auto plot(const IterableValues &x, const IterableValues &y, + std::string_view line_spec, Args &&...args) { + return plot(to_vector_1d(x), to_vector_1d(y), line_spec, + std::forward(args)...); + } + + template + auto plot(const IterableValues &x, const IterableValues &y, + const IterableValues &x2, Args &&...args) { + return plot(to_vector_1d(x), to_vector_1d(y), to_vector_1d(x2), + std::forward(args)...); + } + + template + auto plot(const IterableValues &y, std::string_view line_spec, + Args &&...args) { + return plot(to_vector_1d(y), line_spec, + std::forward(args)...); + } + + template + std::vector plot(const IterableValues &x, + const IterableIterables &Y, + std::string_view line_spec = "") { + return plot(to_vector_1d(x), to_vector_2d(Y), line_spec); + } + + template + std::vector plot(const IterableIterables &Y, + std::string_view line_spec = "") { + return plot(to_vector_2d(Y), line_spec); + } + + template + std::vector + rgbplot(const IterableIterables &colormap) { + return rgbplot(to_vector_2d(colormap)); + } + + template + line_handle + plot3(const IterableValues &x, const IterableValues &y, + const IterableValues &z, std::string_view line_spec = "") { + return plot3(to_vector_1d(x), to_vector_1d(y), to_vector_1d(z), + line_spec); + } + + template + std::enable_if_t, std::vector> + plot3(const IterableIterables &X, const IterableIterables &Y, + const IterableValues &z, std::string_view line_spec = "") { + return plot3(to_vector_2d(X), to_vector_2d(Y), to_vector_1d(z), + line_spec); + } + + template + std::enable_if_t, std::vector> + plot3(const IterableIterables &X, const IterableIterables &Y, + const IterableIterables &Z, std::string_view line_spec = "") { + return plot3(to_vector_2d(X), to_vector_2d(Y), to_vector_2d(Z), + line_spec); + } + + template + auto plot3(const IterableValues &x, const IterableValues &y, + const IterableValues &z, std::string_view line_spec, + Args &&...args) { + return plot3(to_vector_1d(x), to_vector_1d(y), to_vector_1d(z), + line_spec, std::forward(args)...); + } + + template + auto plot3(const IterableValues &x, const IterableValues &y, + const IterableValues &z, const IterableValues &x2, + Args &&...args) { + return plot3(to_vector_1d(x), to_vector_1d(y), to_vector_1d(z), + to_vector_1d(x2), std::forward(args)...); + } + + template + auto plot3(const IterableValues &z, std::string_view line_spec, + Args &&...args) { + return plot3(to_vector_1d(z), line_spec, + std::forward(args)...); + } + + template + stair_handle stairs(const IterableValues &x, + const IterableValues &y, + std::string_view line_spec = "") { + return stairs(to_vector_1d(x), to_vector_1d(y), line_spec); + } + + template + stair_handle stairs(const IterableValues &y, + std::string_view line_spec = "") { + return stairs(to_vector_1d(y), line_spec); + } + + template + std::enable_if_t, std::vector> + stairs(const IterableValues &x, const IterableIterables &Y, + std::string_view line_spec = "") { + return stairs(to_vector_1d(x), to_vector_2d(Y), line_spec); + } + + template + std::enable_if_t, std::vector> + stairs(const IterableIterables &X, const IterableIterables &Y, + std::string_view line_spec = "") { + return stairs(to_vector_2d(X), to_vector_2d(Y), line_spec); + } + + template + std::vector stairs(const IterableIterables &Y, + std::string_view line_spec = "") { + return stairs(to_vector_2d(Y), line_spec); + } + + template + auto stairs(const IterableValues &x, const IterableValues &y, + std::string_view line_spec, Args &&...args) { + return stairs(to_vector_1d(x), to_vector_1d(y), line_spec, + std::forward(args)...); + } + + template + auto stairs(const IterableValues &x, const IterableValues &y, + const IterableValues &x2, Args &&...args) { + return stairs(to_vector_1d(x), to_vector_1d(y), to_vector_1d(x2), + std::forward(args)...); + } + + template + auto stairs(const IterableValues &y, std::string_view line_spec, + Args &&...args) { + return stairs(to_vector_1d(y), line_spec, + std::forward(args)...); + } + + template + error_bar_handle + errorbar(const IterableValues &x, const IterableValues &y, + const IterableValues &error, + error_bar::type type = error_bar::type::vertical, + std::string_view line_spec = "") { + return errorbar(to_vector_1d(x), to_vector_1d(y), + to_vector_1d(error), type, line_spec); + } + + template + error_bar_handle errorbar(const IterableValues &x, + const IterableValues &y, + const IterableValues &y_neg_delta, + const IterableValues &y_pos_delta, + const IterableValues &x_neg_delta, + const IterableValues &x_pos_delta, + std::string_view line_spec = "") { + return errorbar( + to_vector_1d(x), to_vector_1d(y), to_vector_1d(y_neg_delta), + to_vector_1d(y_pos_delta), to_vector_1d(x_neg_delta), + to_vector_1d(x_pos_delta), line_spec); + } + + template + error_bar_handle errorbar(const IterableValues &x, + const IterableValues &y, + const IterableValues &y_error, + std::string_view line_spec) { + return errorbar(to_vector_1d(x), to_vector_1d(y), + to_vector_1d(y_error), line_spec); + } + + template + std::vector + area(const IterableValues &x, const IterableIterables &Y, + double base_value = 0., bool stacked = true, + std::string_view line_spec = "k-") { + return area(to_vector_1d(x), to_vector_2d(Y), base_value, stacked, + line_spec); + } + + template + filled_area_handle area(const IterableValues &x, + const IterableValues &y, + double base_value = 0., bool stacked = true, + std::string_view line_spec = "k-") { + return area(to_vector_1d(x), to_vector_1d(y), base_value, stacked, + line_spec); + } + + template + std::vector + area(const IterableIterables &Y, double base_value = 0., + bool stacked = true, std::string_view line_spec = "k-") { + return area(to_vector_2d(Y), base_value, stacked, line_spec); + } + + template + std::vector + area(const IterableIterables &Y, bool stacked, + std::string_view line_spec = "k-") { + return area(to_vector_2d(Y), stacked, line_spec); + } + + template + filled_area_handle area(const IterableValues &y, + double base_value = 0., bool stacked = true, + std::string_view line_spec = "k-") { + return area(to_vector_1d(y), base_value, stacked, line_spec); + } + + template + histogram_handle hist(const IterableValues &data, + histogram::binning_algorithm algorithm = + histogram::binning_algorithm::automatic, + enum histogram::normalization normalization_alg = + histogram::normalization::count) { + return hist(to_vector_1d(data), algorithm, normalization_alg); + } + + template + histogram_handle hist(const IterableValues &data, size_t n_bins) { + return hist(to_vector_1d(data), n_bins); + } + + template + histogram_handle hist(const IterableValues &data, + const IterableValues &edges) { + return hist(to_vector_1d(data), to_vector_1d(edges)); + } + + template + histogram_handle hist(const IterableValues &data, + enum histogram::normalization normalization_alg) { + return hist(to_vector_1d(data), normalization_alg); + } + + template + axes_object_handle binscatter( + const IterableValues &x, const IterableValues &y, + const IterableValues &edges_x, + const IterableValues &edges_y, + enum bin_scatter_style scatter_style = bin_scatter_style::automatic, + enum histogram::normalization normalization_alg = + histogram::normalization::count) { + return binscatter(to_vector_1d(x), to_vector_1d(y), + to_vector_1d(edges_x), to_vector_1d(edges_y), + scatter_style, normalization_alg); + } + + template + axes_object_handle binscatter( + const IterableValues &x, const IterableValues &y, + histogram::binning_algorithm algorithm = + histogram::binning_algorithm::automatic, + enum bin_scatter_style scatter_style = bin_scatter_style::automatic, + enum histogram::normalization normalization_alg = + histogram::normalization::count) { + return binscatter(to_vector_1d(x), to_vector_1d(y), algorithm, + scatter_style, normalization_alg); + } + + template + axes_object_handle + binscatter(const IterableValues &x, const IterableValues &y, + enum bin_scatter_style scatter_style, + histogram::binning_algorithm algorithm = + histogram::binning_algorithm::automatic, + enum histogram::normalization normalization_alg = + histogram::normalization::count) { + return binscatter(to_vector_1d(x), to_vector_1d(y), scatter_style, + algorithm, normalization_alg); + } + + template + axes_object_handle binscatter( + const IterableValues &x, const IterableValues &y, + size_t nbins_x, size_t nbins_y, + enum bin_scatter_style scatter_style = bin_scatter_style::automatic, + enum histogram::normalization normalization_alg = + histogram::normalization::count) { + return binscatter(to_vector_1d(x), to_vector_1d(y), nbins_x, + nbins_y, scatter_style, normalization_alg); + } + + template + std::enable_if_t, box_chart_handle> + boxplot(const IterableValues &data) { + return boxplot(to_vector_1d(data)); + } + + template + std::enable_if_t, box_chart_handle> + boxplot(const IterableIterables &data) { + return boxplot(to_vector_2d(data)); + } + + template + box_chart_handle boxplot(const IterableValues &data, + const IterableValues &groups) { + return boxplot(to_vector_1d(data), to_vector_1d(groups)); + } + + template + box_chart_handle boxplot(const IterableValues &y_data, + const std::vector &groups) { + return boxplot(to_vector_1d(y_data), groups); + } + + template + std::enable_if_t, bars_handle> + bar(const IterableValues &x, const IterableValues &y) { + return bar(to_vector_1d(x), to_vector_1d(y)); + } + + template + std::enable_if_t, bars_handle> + bar(const IterableValues &y) { + return bar(to_vector_1d(y)); + } + + template + std::enable_if_t, bars_handle> + bar(const IterableIterables &Y) { + return bar(to_vector_2d(Y)); + } + + template + std::enable_if_t, bars_handle> + bar(const IterableValues &x, const IterableIterables &Y) { + return bar(to_vector_1d(x), to_vector_2d(Y)); + } + + template + bars_handle bar(const IterableValues &y, double width) { + return bar(to_vector_1d(y), width); + } + + template + std::vector barstacked(const IterableIterables &Y) { + return barstacked(to_vector_2d(Y)); + } + + template + std::vector barstacked(const IterableValues &x, + const IterableIterables &Y) { + return barstacked(to_vector_1d(x), to_vector_2d(Y)); + } + + template + matrix_handle heatmap(const IterableIterables &m) { + return heatmap(to_vector_2d(m)); + } + + template + matrix_handle pcolor(const IterableIterables &m) { + return pcolor(to_vector_2d(m)); + } + + template + parallel_lines_handle parallelplot(const IterableIterables &X, + const IterableValues &colors, + std::string_view line_spec = "") { + return parallelplot(to_vector_2d(X), to_vector_1d(colors), + line_spec); + } + + template + parallel_lines_handle parallelplot(const IterableIterables &X, + std::string_view line_spec = "") { + return parallelplot(to_vector_2d(X), line_spec); + } + + template + circles_handle pie(const IterableValues &x, + const IterableValues &explode = {}, + const std::vector &labels = {}) { + return pie(to_vector_1d(x), to_vector_1d(explode), labels); + } + + template + circles_handle pie(const IterableValues &x, + const std::vector &labels) { + return pie(to_vector_1d(x), labels); + } + + template + line_handle scatter(const IterableValues &x, + const IterableValues &y, + const IterableValues &sizes = {}, + const IterableValues &colors = {}) { + return scatter(to_vector_1d(x), to_vector_1d(y), + to_vector_1d(sizes), to_vector_1d(colors)); + } + + template + line_handle scatter(const IterableValues &x, + const IterableValues &y, double sizes, + const IterableValues &colors = {}) { + return scatter(to_vector_1d(x), to_vector_1d(y), sizes, + to_vector_1d(colors)); + } + + template + line_handle scatter3(const IterableValues &x, + const IterableValues &y, + const IterableValues &z, + const IterableValues &sizes = {}, + const IterableValues &colors = {}, + std::string_view line_spec = "o") { + return scatter3(to_vector_1d(x), to_vector_1d(y), to_vector_1d(z), + to_vector_1d(sizes), to_vector_1d(colors), + line_spec); + } + + template + line_handle + scatter3(const IterableValues &x, const IterableValues &y, + const IterableValues &z, std::string_view line_spec) { + return scatter3(to_vector_1d(x), to_vector_1d(y), to_vector_1d(z), + line_spec); + } + + template + labels_handle wordcloud(const std::vector &words, + const IterableValues &sizes, + const IterableValues &custom_colors = {}) { + return wordcloud(words, to_vector_1d(sizes), + to_vector_1d(custom_colors)); + } + + template + labels_handle + wordcloud(std::string_view text, + const std::vector &black_list, + std::string_view delimiters = " ',\n\r\t\".!?:;", + size_t max_cloud_size = 100, + const IterableValues &custom_colors = {}) { + return wordcloud(text, black_list, delimiters, max_cloud_size, + to_vector_1d(custom_colors)); + } + + template + std::pair + pareto(const IterableValues &y, + const std::vector &names = {}, + double p_threshold = 0.95, size_t item_threshold = 10) { + return pareto(to_vector_1d(y), names, p_threshold, item_threshold); + } + + template + line_handle stem(const IterableValues &x, + const IterableValues &y, + std::string_view line_spec = "-o") { + return stem(to_vector_1d(x), to_vector_1d(y), line_spec); + } + + template + line_handle stem(const IterableValues &y, + std::string_view line_spec = "-o") { + return stem(to_vector_1d(y), line_spec); + } + + template + std::vector stem(const IterableValues &x, + const IterableIterables &Y, + std::string_view line_spec = "-o") { + return stem(to_vector_1d(x), to_vector_2d(Y), line_spec); + } + + template + std::vector stem(const IterableIterables &Y, + std::string_view line_spec = "-o") { + return stem(to_vector_2d(Y), line_spec); + } + + template + line_handle + stem3(const IterableValues &x, const IterableValues &y, + const IterableValues &z, std::string_view line_spec = "-o") { + return stem3(to_vector_1d(x), to_vector_1d(y), to_vector_1d(z), + line_spec); + } + + template + std::vector + stem3(const IterableIterables &X, const IterableIterables &Y, + const IterableValues &z, std::string_view line_spec = "-o") { + return stem3(to_vector_2d(X), to_vector_2d(Y), to_vector_1d(z), + line_spec); + } + + template + line_handle stem3(const IterableValues &z, + std::string_view line_spec = "-o") { + return stem3(to_vector_1d(z), line_spec); + } + + template + line_handle stem3(const IterableIterables &Z, + std::string_view line_spec = "-o") { + return stem3(to_vector_2d(Z), line_spec); + } + + template + circles_handle geobubble(const IterableValues &latitude, + const IterableValues &longitude, + const IterableValues &sizes = {}, + const IterableValues &colors = {}) { + return geobubble(to_vector_1d(latitude), to_vector_1d(longitude), + to_vector_1d(sizes), to_vector_1d(colors)); + } + + template + line_handle geodensityplot(const IterableValues &latitude, + const IterableValues &longitude, + const IterableValues &weights = {}) { + return geodensityplot(to_vector_1d(latitude), + to_vector_1d(longitude), + to_vector_1d(weights)); + } + + template + line_handle geoplot(const IterableValues &latitude, + const IterableValues &longitude, + std::string_view line_spec = "") { + return geoplot(to_vector_1d(latitude), to_vector_1d(longitude), + line_spec); + } + + template + line_handle geoscatter(const IterableValues &latitude, + const IterableValues &longitude, + const IterableValues &sizes = {}, + const IterableValues &colors = {}) { + return geoscatter(to_vector_1d(latitude), to_vector_1d(longitude), + to_vector_1d(sizes), to_vector_1d(colors)); + } + + template + vectors_handle compass(const IterableValues &x, + const IterableValues &y, + std::string_view line_spec = "") { + return compass(to_vector_1d(x), to_vector_1d(y), line_spec); + } + + template + histogram_handle polarhistogram(const IterableValues &theta, + size_t nbins) { + return polarhistogram(to_vector_1d(theta), nbins); + } + + template + line_handle polarplot(const IterableValues &theta, + const IterableValues &rho, + std::string_view line_spec = "") { + return polarplot(to_vector_1d(theta), to_vector_1d(rho), line_spec); + } + + template + line_handle + polarscatter(const IterableValues &theta, + const IterableValues &rho, + const IterableValues &sizes = std::vector{}, + const IterableValues &colors = std::vector{}, + std::string_view line_spec = "o") { + return polarscatter(to_vector_1d(theta), to_vector_1d(rho), + to_vector_1d(sizes), to_vector_1d(colors), + line_spec); + } + + template + line_handle polarscatter(const IterableValues &theta, + const IterableValues &rho, double size, + std::string_view line_spec = "o") { + return polarscatter(to_vector_1d(theta), to_vector_1d(rho), size, + line_spec); + } + + template + line_handle polarscatter(const IterableValues &theta, + const IterableValues &rho, + std::string_view line_spec) { + return polarscatter(to_vector_1d(theta), to_vector_1d(rho), size, + line_spec); + } + + template + contours_handle + contour(const IterableIterables &X, const IterableIterables &Y, + const IterableIterables &Z, + const IterableValues &levels, + std::string_view line_spec = "", size_t n_levels = 0) { + return contour(to_vector_2d(X), to_vector_2d(Y), to_vector_2d(Z), + to_vector_1d(levels), line_spec, n_levels); + } + + template + contours_handle + contour(const IterableIterables &X, const IterableIterables &Y, + const IterableIterables &Z, size_t n_levels = 0, + std::string_view line_spec = "") { + return contour(to_vector_2d(X), to_vector_2d(Y), to_vector_2d(Z), + n_levels, line_spec); + } + + template + contours_handle + contour(const IterableIterables &X, const IterableIterables &Y, + const IterableIterables &Z, std::string_view line_spec) { + return contour(to_vector_2d(X), to_vector_2d(Y), to_vector_2d(Z), + line_spec); + } + + template + contours_handle + contourf(const IterableIterables &X, const IterableIterables &Y, + const IterableIterables &Z, + const IterableValues &levels, + std::string_view line_spec = "", size_t n_levels = 0) { + return contourf(to_vector_2d(X), to_vector_2d(Y), to_vector_2d(Z), + to_vector_1d(levels), line_spec, n_levels); + } + + template + contours_handle + contourf(const IterableIterables &X, const IterableIterables &Y, + const IterableIterables &Z, size_t n_levels = 0, + std::string_view line_spec = "") { + return contourf(to_vector_2d(X), to_vector_2d(Y), to_vector_2d(Z), + n_levels, line_spec); + } + + template + contours_handle + contourf(const IterableIterables &X, const IterableIterables &Y, + const IterableIterables &Z, std::string_view line_spec) { + return contourf(to_vector_2d(X), to_vector_2d(Y), to_vector_2d(Z), + line_spec); + } + + template + contours_handle fcontour(fcontour_function_type fn, + const std::array &xy_range, + IterableValues levels = {}, + std::string_view line_spec = "", + size_t n_levels = 0) { + return fcontour(fn, xy_range, to_vector_1d(levels), line_spec, + n_levels); + } + + template + vectors_handle feather(const IterableValues &u, + const IterableValues &v, + std::string_view line_spec = "") { + return feather(to_vector_1d(u), to_vector_1d(v), line_spec); + } + + template + std::enable_if_t && is_iterable_value_v && + is_iterable_value_v && is_iterable_value_v, + vectors_handle> + quiver(const IterableValues &x, const IterableValues &y, + const IterableValues &u, const IterableValues &v, + double scale = 1.0, std::string_view line_spec = "") { + return quiver(to_vector_1d(x), to_vector_1d(y), to_vector_1d(u), + to_vector_1d(v), scale, line_spec); + } + + template + std::enable_if_t< + is_iterable_iterable_v && is_iterable_iterable_v && + is_iterable_iterable_v && is_iterable_iterable_v, + vectors_handle> + quiver(const IterableIterables &x, const IterableIterables &y, + const IterableIterables &u, const IterableIterables &v, + double scale = 1.0, std::string_view line_spec = "") { + return quiver(to_vector_2d(x), to_vector_2d(y), to_vector_2d(u), + to_vector_2d(v), scale, line_spec); + } + + template + std::enable_if_t && is_iterable_value_v && + is_iterable_value_v && + is_iterable_value_v && + is_iterable_value_v && is_iterable_value_v, + vectors_handle> + quiver3(const IterableValues &x, const IterableValues &y, + const IterableValues &z, const IterableValues &u, + const IterableValues &v, const IterableValues &w, + double scale = 1.0, std::string_view line_spec = "") { + return quiver3(to_vector_1d(x), to_vector_1d(y), to_vector_1d(z), + to_vector_1d(u), to_vector_1d(v), to_vector_1d(w), + scale, line_spec); + } + + template + std::enable_if_t< + is_iterable_iterable_v && is_iterable_iterable_v && + is_iterable_iterable_v && is_iterable_iterable_v && + is_iterable_iterable_v && is_iterable_iterable_v, + vectors_handle> + quiver3(const IterableIterables &x, const IterableIterables &y, + const IterableIterables &z, const IterableIterables &u, + const IterableIterables &v, const IterableIterables &w, + double scale = 1.0, std::string_view line_spec = "") { + return quiver3(to_vector_2d(x), to_vector_2d(y), to_vector_2d(z), + to_vector_2d(u), to_vector_2d(v), to_vector_2d(w), + scale, line_spec); + } + + template + vectors_handle + quiver3(const IterableIterables &z, const IterableIterables &u, + const IterableIterables &v, const IterableIterables &w, + double scale = 1.0, std::string_view line_spec = "") { + return quiver3(to_vector_2d(z), to_vector_2d(u), to_vector_2d(v), + to_vector_2d(w), scale, line_spec); + } + + template + surface_handle fence(const IterableIterables &X, + const IterableIterables &Y, + const IterableIterables &Z, + const IterableValues &c = {}) { + return fence(to_vector_2d(X), to_vector_2d(Y), to_vector_2d(Z), + to_vector_1d(c)); + } + + template + surface_handle mesh(const IterableIterables &X, + const IterableIterables &Y, + const IterableIterables &Z, + const IterableIterables &C = {}) { + return mesh(to_vector_2d(X), to_vector_2d(Y), to_vector_2d(Z), + to_vector_2d(C)); + } + + template + surface_handle meshc(const IterableIterables &X, + const IterableIterables &Y, + const IterableIterables &Z, + const IterableIterables &C = {}) { + return meshc(to_vector_2d(X), to_vector_2d(Y), to_vector_2d(Z), + to_vector_2d(C)); + } + + template + surface_handle meshz(const IterableIterables &X, + const IterableIterables &Y, + const IterableIterables &Z, + const IterableIterables &C = {}) { + return meshz(to_vector_2d(X), to_vector_2d(Y), to_vector_2d(Z), + to_vector_2d(C)); + } + + template + surface_handle + ribbon(const IterableIterables &X, const IterableIterables &Y, + const IterableIterables &Z, + const IterableIterables &C = {}, double width = 0.75) { + return ribbon(to_vector_2d(X), to_vector_2d(Y), to_vector_2d(Z), + to_vector_2d(C), width); + } + + template + surface_handle surf(const IterableIterables &X, + const IterableIterables &Y, + const IterableIterables &Z, + const IterableIterables &C = {}, + std::string_view line_spec = "") { + return IterableIterables(to_vector_2d(X), to_vector_2d(Y), + to_vector_2d(Z), to_vector_2d(C), + line_spec); + } + + template + surface_handle surfc(const IterableIterables &X, + const IterableIterables &Y, + const IterableIterables &Z, + const IterableIterables &C = {}) { + return surfc(to_vector_2d(X), to_vector_2d(Y), to_vector_2d(Z), + to_vector_2d(C)); + } + + template + surface_handle waterfall(const IterableIterables &X, + const IterableIterables &Y, + const IterableIterables &Z, + const IterableIterables &C = {}) { + return waterfall(to_vector_2d(X), to_vector_2d(Y), to_vector_2d(Z), + to_vector_2d(C)); + } + + template + network_handle graph(const IterableValues &edges, + const IterableValues &weights = {}, + size_t n_vertices = 0, + std::string_view line_spec = "-o") { + return graph(to_vector_1d>(edges), + to_vector_1d(weights), n_vertices, line_spec); + } + + template + network_handle graph(const IterableValues &edges, + std::string_view line_spec) { + return graph(to_vector_1d>(edges), + line_spec); + } + + template + matrix_handle imshow(const IterableIterables &gray_scale_img) { + return imshow(to_vector_2d(gray_scale_img)); + } + + template + matrix_handle imshow(const IterableIterables &r_channel, + const IterableIterables &g_channel, + const IterableIterables &b_channel, + const IterableIterables &a_channel = + std::vector>{}) { + return imshow(to_vector_2d(r_channel), + to_vector_2d(g_channel), + to_vector_2d(b_channel), + to_vector_2d(a_channel)); + } + + template + matrix_handle imshow(const std::vector> &img) { + std::vector>> v_img( + img.size()); + for (size_t i = 0; i < img.size(); ++i) { + v_img[i] = to_vector_2d(img[i]); + } + return imshow(v_img); + } + + template + matrix_handle image(const IterableIterables &C, + bool scaled_colorbar = false) { + return image(to_vector_2d(C), scaled_colorbar); + } + + template + matrix_handle image(const IterableIterables &r_channel, + const IterableIterables &g_channel, + const IterableIterables &b_channel, + bool scaled_colorbar = false) { + return image(to_vector_2d(r_channel), to_vector_2d(g_channel), + to_vector_2d(b_channel), scaled_colorbar); + } + + template + matrix_handle image(double x_min, double x_max, double y_min, + double y_max, const IterableIterables &C, + bool scaled_colorbar = false) { + return image(x_min, x_max, y_min, y_max, to_vector_2d(C), + scaled_colorbar); + } + + template + matrix_handle + image(const std::tuple, IterableIterables, + IterableIterables> &img) { + std::tuple>, + std::vector>, + std::vector>> + t = std::make_tuple(to_vector_2d(std::get<0>(img)), + to_vector_2d(std::get<1>(img)), + to_vector_2d(std::get<2>(img))); + return image(t); + } + + template + labels_handle text(const IterableValues &x, + const IterableValues &y, + const std::vector &texts) { + return text(to_vector_1d(x), to_vector_1d(y), texts); + } + + template + labels_handle text(const IterableValues &x, + const IterableValues &y, std::string_view str) { + return text(to_vector_1d(x), to_vector_1d(y), str); + } + + template + line_handle fill(const IterableValues &x, + const IterableValues &y, + std::string_view line_spec = "") { + return fill(to_vector_1d(x), to_vector_1d(y), line_spec); + } + + public /* template variants of plot functions above */: + /// Loglog is a line plot variant with log on both x and y axes + template auto loglog(Args &&...args) { + auto h = this->plot(std::forward(args)...); + this->x_axis().scale(axis_type::axis_scale::log); + this->y_axis().scale(axis_type::axis_scale::log); + return h; + } + + /// Semilogx is a plot variant with log scale on the x axis + template auto semilogx(Args &&...args) { + auto h = this->plot(std::forward(args)...); + this->x_axis().scale(axis_type::axis_scale::log); + return h; + } + + /// Semilogx is a plot variant with log scale on the x axis + template auto semilogy(Args &&...args) { + auto h = this->plot(std::forward(args)...); + this->y_axis().scale(axis_type::axis_scale::log); + return h; + } + + /// If the user tries to use boxchart instead of boxplot, it also works + template auto boxchart(Args &&...args) { + return boxplot(std::forward(args)...); + } + + /// The function hist2 is equivalent to binscatter (usually with a + /// heatmap) + template auto hist2(Args &&...args) { + return binscatter(std::forward(args)...); + } + + /// Directed graph + template auto digraph(Args &&...args) { + auto l = graph(std::forward(args)...); + l->directed(true); + return l; + } + + /// Show array as image and scale the colorbar + template auto imagesc(Args &&...args) { + return image(std::forward(args)..., true); + } + + /// Show array as image and scale the colorbar + template auto polygon(Args &&...args) { + return fill(std::forward(args)...); + } + + public /* templates converting to vector and + vector> */ + : + + private /* run gnuplot commands */: + void run_colormap_command(); + void run_position_margin_command(); + std::tuple + calculate_margins(); + void run_title_command(); + void run_box_command(); + void run_grid_command(); + void run_axes_command(); + void run_labels_command(); + void run_legend_command(); + void run_background_command(); + void run_plot_objects_command(); + void run_unset_objects_command(); + void run_empty_plot_command(); + + private /* run draw commands */: + void run_background_draw_commands(); + void run_title_draw_commands(); + void run_box_draw_commands(); + void run_grid_draw_commands(); + void run_axes_draw_commands(); + void run_labels_draw_commands(); + void run_legend_draw_commands(); + void run_plot_objects_draw_commands(); + + public /* commands children objects can call to draw on the axes */: + /* + * These functions are intermediaries between the axes + * and the backend because the axes need to clamp points + * outside the axes and normalize the points to the axes + * position on screen. + */ + void draw_path(const std::vector &x, + const std::vector &y, + const std::array &color); + + private /* members */: + // axes + class axis_type x_axis_ { + this, true + }; + + class axis_type x2_axis_ { + this, false + }; + + class axis_type y_axis_ { + this, true + }; + + class axis_type y2_axis_ { + this, false + }; + + class axis_type z_axis_ { + this, true + }; + + class axis_type r_axis_ { + this, false + }; + + class axis_type t_axis_ { + this, false + }; + + class axis_type cb_axis_ { + this, false + }; + + bool cb_vertical_{true}; + bool cb_inside_{false}; + std::array cb_position_{0., 0., 0., 0.}; + + // {x, y, width, height} + std::array position_{default_axes_position}; + std::array margin_{0.0, 0.0, 0.0, 0.0}; + + // 3d view + float azimuth_ = -37.5; + float elevation_ = 30.; + + // set xrange, yrange and zrange according to this ratio + float axes_aspect_ratio_{1}; + bool axes_aspect_ratio_auto_{true}; + + // text + std::optional font_size_{10.f}; + std::optional font_{"Helvetica"}; + std::string font_weight_{"normal"}; + + // title text + std::string title_; + bool title_visible_{false}; + bool title_enhanced_{true}; + float title_font_size_multiplier_{1.1f}; + std::string title_font_weight_{"bold"}; + color_array title_color_{0, 0, 0, 0}; + + // colors for children object + std::array color_{0, 1.0, 1.0, 1.0}; + std::array color_outside_{0, 0.97f, 0.97f, 0.97f}; + std::vector> colororder_{ + default_color(0), default_color(1), default_color(2), + default_color(3), default_color(4), default_color(5), + default_color(6)}; + size_t colororder_index_{0}; + std::vector> colormap_ = {palette::default_map()}; + size_t max_colors_{0}; // limit number of colors in the colormap + + // complete box around the axes + bool box_{true}; + bool box_full_{false}; + std::array box_color_{.0, .0, .0, .0}; + + // grid inside the axes + line_spec grid_line_style_{"-"}; + line_spec minor_grid_line_style_{"--"}; + bool grid_front_{false}; + + bool x_grid_{false}; + bool x_user_grid_{false}; + bool x_minor_grid_{false}; + + bool y_grid_{false}; + bool y_user_grid_{false}; + bool y_minor_grid_{false}; + + bool z_grid_{false}; + bool z_user_grid_{false}; + bool z_minor_grid_{false}; + + bool r_grid_{false}; + bool r_user_grid_{false}; + bool r_minor_grid_{false}; + bool t_minor_grid_{false}; + + // background + bool visible_{true}; + bool handle_visibility_{true}; + float line_width_{0.5}; + + // line styles for children objects that don't have + // a color defined by the user + std::string line_style_order_ = "-"; + size_t line_style_order_index_{0}; + + // children objects + std::vector children_; + bool next_plot_replace_ = true; + legend_handle legend_; + + // parent figure + // we don't need a shared_ptr here because there is no + // relationship of ownership + class figure_type *parent_; + }; + +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_AXES_TYPE_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/core/axis_type.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/core/axis_type.h new file mode 100644 index 00000000..27b585fe --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/core/axis_type.h @@ -0,0 +1,181 @@ +// +// Created by Alan Freitas on 2020-07-03. +// + +#ifndef MATPLOTPLUSPLUS_AXIS_TYPE_H +#define MATPLOTPLUSPLUS_AXIS_TYPE_H + +#include +#include +#include +#include +#include +#include + +namespace matplot { + class axes_type; + + /// A two dimensional axis + class MATPLOT_EXPORTS axis_type { + public: + enum class axis_scale { linear, log }; + + public: + friend axes_type; + axis_type(); + explicit axis_type(class axes_type *parent); + explicit axis_type(class axes_type *parent, bool visible); + axis_type(class axes_type *parent, double min, double max); + axis_type(class axes_type *parent, double min, double max, + bool visible); + + public: + void touch(); + + public: + std::array limits() const; + class axis_type &limits(const std::array &limits); + + bool limits_mode_auto() const; + bool limits_mode_manual() const; + class axis_type &limits_mode_auto(bool limits_mode_auto); + class axis_type &limits_mode_manual(bool limits_mode_manual); + std::string range_string() const; + + bool reverse() const; + class axis_type &reverse(bool reverse); + + const color_array &color() const; + class axis_type &color(const color_array &color); + class axis_type &color(std::string_view color); + class axis_type &color(const enum color &color); + + const std::string &label() const; + class axis_type &label(std::string_view label); + + const std::string &tick_label_format() const; + class axis_type &tick_label_format(std::string_view tick_label_format); + + bool tick_values_automatic() const; + class axis_type &tick_values_automatic(bool tick_values_automatic); + + bool tick_values_manual() const; + class axis_type &tick_values_manual(bool tick_values_manual); + + /// Get tick values + /// This might be tick values provided by the user + /// or tick values calculated automatically for the range + const std::vector &tick_values() const; + class axis_type &tick_values(const std::vector &tick_values); + + /// Get tick values + /// This might be tick labels provided by the user + /// or tick labels according to a format + const std::vector &ticklabels() const; + class axis_type &ticklabels(const std::vector &ticklabels); + + bool ticklabels_mode() const; + class axis_type &ticklabels_mode(bool ticklabels_mode); + + float tickangle() const; + class axis_type &tickangle(float tickangle); + + axis_scale scale() const; + class axis_type &scale(axis_scale scale); + + float tick_length() const; + class axis_type &tick_length(float tick_length); + + bool zero_axis() const; + class axis_type &zero_axis(bool zero_axis); + + bool geographic() const; + class axis_type &geographic(bool geographic); + + bool on_axis() const; + class axis_type &on_axis(bool on_axis); + + const std::string &label_weight() const; + class axis_type &label_weight(std::string_view label_weight); + + float label_font_size() const; + class axis_type &label_font_size(float label_font_size); + + const color_array &label_color() const; + class axis_type &label_color(const color_array &label_color); + template axis_type &label_color(T c) { + label_color(to_array(c)); + return *this; + } + + bool is_timestamp() const; + class axis_type &is_timestamp(bool is_timestamp); + + bool visible() const; + class axis_type &visible(bool visible); + + public: + std::string label_string() const; + std::string tick_values_string(bool minor_ticks = false) const; + std::string tick_rotate_string() const; + + private: + // range + std::array limits_{0, 2}; + bool limits_mode_auto_{true}; + bool reverse_{false}; + axis_scale scale_{axis_scale::linear}; + float exponent{0}; + bool geographic_{false}; + + // tics + std::vector tick_values_{0, 0.2000, 0.4000, 0.6000, + 0.8000, 1, 1.2000, 1.4000, + 1.6000, 1.8000, 2}; + std::string tick_label_format_{"%g"}; + bool tick_values_automatic_{true}; + float tickangle_{0}; + std::vector ticklabels_; + bool ticklabels_mode_{true}; + std::array color_{0, 0.15f, 0.15f, 0.15f}; + float tick_length_{0.75}; + + // minor tics + bool minor_tick_{false}; + std::vector minor_tick_values_{ + 0.0500, 0.1000, 0.1500, 0.2500, 0.3000, 0.3500, 0.4500, 0.5000, + 0.5500, 0.6500, 0.7000, 0.7500, 0.8500, 0.9000, 0.9500, 1.0500, + 1.1000, 1.1500, 1.2500, 1.3000, 1.3500, 1.4500, 1.5000, 1.5500, + 1.6500, 1.7000, 1.7500, 1.8500, 1.9000, 1.9500}; + + // font + std::string font_{"Helvetica"}; + float font_size_{10}; + std::string font_weight_{"normal"}; + + // label + std::string label_{""}; + std::string label_weight_{"normal"}; + float label_font_size_{11}; + color_array label_color_{0, 0, 0, 0}; + + bool is_timestamp_{false}; + + // line + float line_width_{0.5}; + + // draw zero axis + bool zero_axis_{false}; + + // Draw the tics on the axis + bool on_axis_{false}; + + bool visible_{true}; + + // parent xlim + class axes_type *parent_; + }; + +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_AXIS_TYPE_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/core/figure_registry.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/core/figure_registry.h new file mode 100644 index 00000000..cf970e34 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/core/figure_registry.h @@ -0,0 +1,52 @@ +// +// Created by Alan Freitas on 04/08/20. +// + +#ifndef MATPLOTPLUSPLUS_FIGURE_REGISTRY_H +#define MATPLOTPLUSPLUS_FIGURE_REGISTRY_H + +#include +#include + +namespace matplot { + using figure_handle = std::shared_ptr; + + /// \brief Create a new figure + MATPLOT_EXPORTS + figure_handle figure_no_backend(bool quiet_mode); + + /// \brief Create a new figure with a given backend + template + figure_handle figure(bool quiet_mode) { + std::shared_ptr b = + create_backend(); + figure_handle f = figure_no_backend(quiet_mode); + f->backend(b); + return f; + } + + /// \brief Create a new figure (reactive mode) + template figure_handle figure() { + /// Take default mode from backend? + return figure(false); + } + + /// \brief Set the current figure + MATPLOT_EXPORTS + figure_handle figure(figure_handle h); + + /// \brief Set the current figure + MATPLOT_EXPORTS + figure_handle figure(class figure_type *h); + + /// \brief Get the current figure + MATPLOT_EXPORTS + figure_handle gcf(); + + /// \brief Get current figure in quiet mode + MATPLOT_EXPORTS + figure_handle gcf(bool quiet); + +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_FIGURE_REGISTRY_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/core/figure_type.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/core/figure_type.h new file mode 100644 index 00000000..a71a6642 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/core/figure_type.h @@ -0,0 +1,326 @@ +#ifndef MATPLOTPLUSPLUS_FIGURE_TYPE_H +#define MATPLOTPLUSPLUS_FIGURE_TYPE_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace matplot { + class axes_type; + + /// \class Figure + /// From Figures, we can create plot handles and + /// multiplot handles that contain other plot handles. + /// - Figure objects have axis objects + /// - Axis objects have plot object + /// + /// When we plot the any of these subobjects, they will + /// send the appropriate commands to the parent Figure/pipe + /// to plot it. + /// + /// If we create more Figures, we create more plot windows, + /// but we don't really recommend doing that. It's better + /// to only use the default pipe for everything and use + /// multiplots if more plots are needed. + class MATPLOT_EXPORTS figure_type { + public: + friend class axes_type; + // Remove the copy operators because users are not + // supposed to use this object directly. + // Users will use a figure_handle which can be copied + // and still reference to the same object. + figure_type(figure_type const &) = delete; + void operator=(figure_type const &) = delete; + + /// \brief Create a Figure window + figure_type(); + + /// \brief Create a Figure window + explicit figure_type(bool quiet_mode); + + /// \brief Create a Figure window + explicit figure_type(size_t index); + + /// \brief Create a Figure window + explicit figure_type(size_t index, bool quiet_mode); + + /// \brief The destructor closes the pipe + virtual ~figure_type(); + + public /* manage axes */: + /// \brief Create new axes in a figure + axes_handle add_axes(bool replace_if_overlap = false); + + /// \brief Create new axes in position + /// Don't replace any axes that might overlap + /// Replace any axes exactly in the same position + /// \param position: x, y, width, height (all from 0 to 1) + /// \return Handle to new axes + axes_handle add_axes(std::array position); + + /// \brief Add existing axes to the figure + /// If we find axes in the exact same position, we can replace + /// the axes with the new axes or we can get a handle + /// to the existing axes. If we don't find axes in the exact + /// same position, we remove any other axes overlapping the new + /// axes and return a handle to the new axes. + /// \param ax Handle to the new axes + /// \param replace_if_overlap Replace any axes that overlap at all + /// \param replace_if_same_position Replace any axes that are exactly in + /// the same position \return Handle to new axes + axes_handle add_axes(std::shared_ptr ax, + bool replace_if_overlap, + bool replace_if_same_position); + + /// \brief Add a subplot + /// The subplot is an axes with its position determined by the number of + /// rows, columns, and id + axes_handle add_subplot(size_t rows, size_t cols, size_t plot_id, + bool replace_if_same_position = false); + + /// \brief Make axes a subplot of this figure + axes_handle add_subplot(size_t rows, size_t cols, size_t plot_id, + axes_handle axes); + + /// \brief Create new axes in a subplot covering all positions in P + axes_handle add_subplot(size_t rows, size_t cols, + std::initializer_list P, + bool replace_if_same_position = false); + + /// \brief Create new subplot in a specific position + axes_handle add_subplot(std::array position, + bool replace_if_same_position = false); + + /// \brief Get next tile in a tiled layout + /// In tiled layouts, we create new axes for each new tile. + /// The tile positions are determined according to the number + /// of rows/columns provided by `tiledlayout()`. + /// When creating a new tile, if there are more tiles than rows * + /// columns, we increase the number of rows or columns to make the new + /// tile fit. The position of old tiled is adjusted to the new number of + /// rows and columns. + void tiledlayout(size_t rows = 1, size_t cols = 1); + + /// \brief Add next tile to plot + axes_handle nexttile(); + + /// \brief Add next tile to plot at position index + axes_handle nexttile(size_t index); + + /// Get reference to current axes / create new axes if it does not exist + std::shared_ptr current_axes(); + + /// Get reference to current axes + std::shared_ptr current_axes() const; + + /// Set current axes in the figure + void current_axes(const std::shared_ptr ¤t_axes); + + /// \brief Get reference to vector with all child axes + const std::vector> &children() const; + void + children(const std::vector> &children); + + protected: + static std::array + calculate_subplot_position(size_t rows, size_t cols, size_t plot_id); + + public /* manage figure reactive mode */: + /// \brief Draw the current figure (for figures in quiet/non-reactive + /// mode) Flush the buffer to the pipe, updating or creating the plot + /// window + void draw(); + + /// \brief Draw the current figure and pause the console + /// This is useful to keep the figure open, usually by the end + /// of a program. Never use this function inside a library + /// meant to be used non-interactively. + void show(); + + /// \brief Plot the figure if not in quiet mode + /// In some applications, we want the default behaviour + /// where we update the plot whenever we change a figure + /// property. This is usually what we want when tracking + /// the behaviour of an algorithm of something like that. + /// In some other applications, however, we just want + /// to plot when we explicitly call the plot function. + /// This is the case when producing plots for papers, etc. + /// This is also the case in applications where we need + /// performance. + void touch(); + + /// True if user required the backend to close + bool should_close(); + + /// True if in quiet mode (not reactive) + bool quiet_mode() const; + + /// Set quite mode (non-reactive) + void quiet_mode(bool quiet_mode); + + /// True if in quiet mode (not reactive) + bool reactive_mode() const; + + /// Set quite mode (non-reactive) + void reactive_mode(bool reactive_mode); + + /// Turn on reactive mode (off quiet mode) + void ion(); + + /// Turn off reactive mode (on quiet mode) + void ioff(); + + public /* save figure */: + /// Save figure + bool save(const std::string &filename, const std::string &format); + bool save(const std::string &filename); + + public /* plot functions for figure */: + /// Create matrix of axes with scatter plots - X / Y + std::tuple>, + std::vector, + std::vector>> + plotmatrix(const std::vector> &X, + const std::vector> &Y, + std::string_view line_spec = "of", + bool histogram_on_diagonals = false); + + /// Create matrix of axes with scatter plots - X / X + std::tuple>, + std::vector, + std::vector>> + plotmatrix(const std::vector> &X, + std::string_view line_spec = "of", + bool histogram_on_diagonals = false) { + return this->plotmatrix(X, X, line_spec, histogram_on_diagonals); + } + + public /* figure properties */: + const std::shared_ptr &backend() const; + void + backend(const std::shared_ptr &new_backend); + + void name(std::string_view name); + std::string name() const; + + size_t number() const; + + void color(const color_array &c); + void color(const std::array &c); + void color(std::string_view c); + void color(const enum color &c); + color_array color() const; + + bool custom_color() const; + void custom_color(bool custom_color); + + void position(const std::array &c); + void position(unsigned x, unsigned y, unsigned w, unsigned h); + void position(unsigned x, unsigned y); + void size(unsigned w, unsigned h); + std::array position() const; + + unsigned x_position() const; + void x_position(unsigned x); + unsigned y_position() const; + void y_position(unsigned y); + unsigned width() const; + void width(unsigned w); + unsigned height() const; + void height(unsigned h); + + void number_title(bool number_title); + bool number_title() const; + + const std::string &font() const; + void font(std::string_view font); + + float font_size() const; + void font_size(float font_size); + + const std::string &title() const; + void title(std::string_view title); + + const color_array &title_color() const; + void title_color(const color_array &title_color); + + float title_font_size_multiplier() const; + void title_font_size_multiplier(float title_font_size_multiplier); + + /// Return if Figure is valid + explicit operator bool() const; + + protected: + // Draw, depending on the backend type + void send_draw_commands(); + void send_gnuplot_draw_commands(); + + protected /* run commands on a gnuplot pipe if that's our backend */: + /// \brief Send line and newline to gnu plot pipe and flush + /// We can buffer the lines until the end of data is sent + void run_command(const std::string &text); + + /// \brief Include a comment in the gnuplot code + /// This is useful when tracing the gnuplot commands + /// and when generating a gnuplot file. + void include_comment(const std::string &text); + + /// \brief Send commands to gnuplots + void flush_commands(); + + /// Plots an empty plot command + void plot_empty_plot(); + + /// \brief Run commands to set the appropriate window properties + /// This applies of member objects to the window (font, size, ...) + void run_figure_properties_command(); + void run_terminal_init_command(); + void run_window_color_command(); + void run_unset_window_color_command(); + void run_multiplot_command(); + + private: + [[nodiscard]] std::string generate_window_title() const; + + private: + // The default backend for this figure + std::shared_ptr backend_{nullptr}; + + // Figure properties + bool quiet_mode_ = true; + bool is_plotting_{false}; + std::string name_; + std::string title_; + color_array title_color_{0, 0, 0, 0}; + float title_font_size_multiplier_{1.4f}; + size_t number_{1}; + bool number_title_{true}; + // ARGB + color_array color_{0., 0.94f, 0.94f, 0.94f}; + bool custom_color_{false}; // was this color defined by the user + std::string font_{"Helvetica"}; + float font_size_{10.}; + + // Axes + std::vector> children_; + std::shared_ptr current_axes_; + + // Axes tiles + size_t current_tile_index_ = 0; + size_t tiledlayout_rows_ = 1; + size_t tiledlayout_cols_ = 1; + bool tiledlayout_flow_ = true; + }; + +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_FIGURE_TYPE_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/core/legend.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/core/legend.h new file mode 100644 index 00000000..8226ab21 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/core/legend.h @@ -0,0 +1,166 @@ +// +// Created by Alan Freitas on 2020-07-04. +// + +#ifndef MATPLOTPLUSPLUS_LEGEND_H +#define MATPLOTPLUSPLUS_LEGEND_H + +#include +#include +#include +#include +#include + +namespace matplot { + class axes_type; + + class MATPLOT_EXPORTS legend { + public: + enum class horizontal_alignment { left, center, right }; + + enum class vertical_alignment { top, center, bottom }; + + enum class general_alignment { + topleft, + top, + topright, + left, + center, + right, + bottomleft, + bottom, + bottomright, + }; + + public: + legend() = default; + legend(class axes_type *parent); + legend(class axes_type *parent, + std::initializer_list names); + legend(class axes_type *parent, const std::vector &names); + + public /* useful functions */: + void touch(); + const std::string &operator[](size_t index) const; + std::string &operator[](size_t index); + bool empty() const; + size_t size() const; + std::vector::const_iterator begin() const; + std::vector::iterator begin(); + std::vector::const_iterator end() const; + std::vector::iterator end(); + + public /* getter and setters */: + std::vector &strings(); + const std::vector &strings() const; + void strings(const std::vector &strings); + + void inside(bool inside); + bool inside() const; + + bool label_after_sample() const; + void label_after_sample(bool label_after_sample); + + bool box() const; + void box(bool box); + + const line_spec &box_line() const; + line_spec &box_line(); + void box_line(const line_spec &box_line); + + bool vertical() const; + void vertical(bool vertical); + + bool horizontal() const; + void horizontal(bool horizontal); + + // Legend location given a reference position + // If the position is automatic, the reference is the xlim + // If the position is a manual point, the reference is this point + general_alignment location() const; + void location(general_alignment alignment); + + horizontal_alignment horizontal_location() const; + void horizontal_location(horizontal_alignment horizontal_location); + + vertical_alignment vertical_location() const; + void vertical_location(vertical_alignment vertical_location); + + bool manual_position() const; + void manual_position(bool manual_position); + + const std::array &position() const; + void position(const std::array &position); + + bool invert() const; + void invert(bool invert); + + size_t num_columns() const; + void num_columns(size_t num_columns); + + size_t num_rows() const; + void num_rows(size_t num_rows); + + bool visible() const; + void visible(bool visible); + + const std::string &title() const; + void title(std::string_view title); + + const std::string &font_name() const; + void font_name(std::string_view font_name); + + float font_size() const; + void font_size(float font_size); + + const std::string &font_angle() const; + void font_angle(std::string_view font_angle); + + const std::string &font_weight() const; + void font_weight(std::string_view font_weight); + + const color_array &text_color() const; + void text_color(const color_array &text_color); + template void text_color(T c) { text_color(to_array(c)); } + + bool opaque() const; + void opaque(bool opaque); + + private: + // The keys + std::vector strings_{}; + std::string title_{""}; + + // Positioning + bool inside_{true}; + bool manual_position_{false}; + std::array position_{0.0, 0.0}; + horizontal_alignment horizontal_location_{horizontal_alignment::right}; + vertical_alignment vertical_location_{vertical_alignment::top}; + + // Font + std::string font_name_{"Helvetica"}; + float font_size_{11}; + std::string font_angle_{"normal"}; + std::string font_weight_{"bold"}; + color_array text_color_{0., 0, 0, 0}; + + // Style + bool box_{true}; + line_spec box_line_{"k-"}; + // color_array color_{0., 1, 1, 1}; + bool vertical_{true}; + bool label_after_sample_{true}; + bool invert_{false}; + bool visible_{true}; + bool opaque_{true}; + + size_t num_columns_{0}; + size_t num_rows_{0}; + + // Parent xlim + class axes_type *parent_{nullptr}; + }; +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_LEGEND_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/core/line_spec.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/core/line_spec.h new file mode 100644 index 00000000..db0c0147 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/core/line_spec.h @@ -0,0 +1,186 @@ +// +// Created by Alan Freitas on 2020-07-06. +// + +#ifndef MATPLOTPLUSPLUS_LINE_SPEC_H +#define MATPLOTPLUSPLUS_LINE_SPEC_H + +#include +#include +#include +#include + +namespace matplot { + class MATPLOT_EXPORTS line_spec { + public: + enum class line_style { + none, // no line + solid_line, // "-" + dashed_line, // "--" + dotted_line, // ":" + dash_dot_line, // "-." + }; + + enum class marker_style { + none, // "" -> gnuplot linetype -1 + plus_sign, // "+" -> gnuplot linetype 1 + circle, // "o" -> gnuplot linetype 6 + asterisk, // "*" -> gnuplot linetype 3 + point, // "." -> gnuplot linetype 7 + cross, // "x" -> gnuplot linetype 2 + square, // "s" / "square" -> gnuplot linetype 4 / 5 + diamond, // "d" / "diamond" -> gnuplot linetype 12 / 13 + upward_pointing_triangle, // "^" -> gnuplot linetype 8 / 9 + downward_pointing_triangle, // "v" -> gnuplot linetype 10 / 11 + right_pointing_triangle, // ">" -> gnuplot linetype (doest not + // exist) + left_pointing_triangle, // "<" -> gnuplot linetype (does not exist) + pentagram, // "p" / "pentagram" -> gnuplot linetype 14 / 15 + hexagram, // "h" / "hexagram" -> gnuplot linetype (does not exist) + custom, // https://stackoverflow.com/questions/16189187/gnuplot-using-custom-point-shapes-with-legend-entry + }; + + enum class style_to_plot { + // plot line with markers together + plot_line_and_marker, + // plot only line + plot_line_only, + // plot only markers + plot_marker_only, + // plot only marker face + plot_marker_face_only + }; + + public: + line_spec(); + explicit line_spec(std::string_view expr); + + template + line_spec(Pointer parent, std::string_view expr) + : line_spec(expr) { + touch_function_ = [parent]() { parent->touch(); }; + } + + public: + /// \brief Create string to apply this style in gnuplot + /// This includes the style for the line and the marker + /// It's only possible to set the color for one of them + std::string + plot_string(style_to_plot sty = style_to_plot::plot_line_and_marker, + bool include_style = true); + + /// Get line_spec properties from a string + void parse_string(std::string_view expr); + + /// \brief True if we can plot line and marker with only one plot + /// command We can plot them together "with linespoints" if: + /// - They both are different from none + /// - They have the same color + bool can_plot_line_and_marker_together(); + + /// \brief True if style includes a line + bool has_line(); + + /// \brief True if style includes a non custom marker + bool has_non_custom_marker(); + + /// \brief True if style includes a marker face + bool has_marker_face(); + + /// \brief True if line, marker, and marker face are the same color + [[nodiscard]] bool line_and_marker_are_the_same_color() const; + + /// \brief True if marker and marker face are the same color + [[nodiscard]] bool marker_and_face_are_the_same_color() const; + + /// Touch the parent element + void touch(); + + [[nodiscard]] const std::array &color() const; + [[nodiscard]] float alpha() const; + void color(const std::array &color); + void color(const std::array &color); + void color(std::initializer_list color); + void color(std::string_view color); + void color(enum color marker_color); + void alpha(float alpha); + [[nodiscard]] bool user_color() const; + void user_color(bool user_color); + + [[nodiscard]] line_style line_style() const; + void line_style(enum line_style line_style); + + [[nodiscard]] float line_width() const; + void line_width(float line_width); + + [[nodiscard]] enum marker_style marker_style() const; + void marker_style(enum marker_style marker_style); + void marker_style(std::string_view marker_style); + [[nodiscard]] enum marker_style marker() const; + template void marker(T marker) { marker_style(marker); } + + [[nodiscard]] const std::string &custom_marker() const; + void custom_marker(std::string_view custom_marker); + + [[nodiscard]] float marker_size() const; + void marker_size(float marker_size); + + const std::array &marker_color() const; + float marker_alpha() const; + void marker_color(const std::array &color); + void marker_color(const std::array &color); + void marker_color(std::initializer_list color); + void marker_color(std::string_view color); + void marker_color(enum color marker_color); + void marker_alpha(float alpha); + bool marker_user_color() const; + void marker_user_color(bool user_color); + + const std::array &marker_face_color() const; + float marker_face_alpha() const; + void marker_face_color(const std::array &color); + void marker_face_color(const std::array &color); + void marker_face_color(std::initializer_list color); + void marker_face_color(std::string_view color); + void marker_face_color(enum color marker_face_color); + void marker_face_alpha(float alpha); + bool marker_face_user_color() const; + void marker_face_user_color(bool user_color); + + bool marker_face() const; + void marker_face(bool marker_face); + + private: + // use labels for non-custom markers: + // set label '▶︎' at 2,2 + // set label '◀' at 3,3 + // set label '✶' at 4,4 + // plot cos(x) with linespoints linecolor rgb "#000000" dashtype 3 + // linewidth 3 linetype 4 unset label + private: + // Line + std::array color_{0, 0, 0.447f, 0.741f}; + // Did the user provide a color or is the color just a placeholder + bool user_color_{false}; + enum line_style line_style_ { line_style::none }; + float line_width_{0.5000}; + + // Marker + enum marker_style marker_style_ { marker_style::none }; + std::array marker_color_{0, 0, 0.447f, 0.741f}; + bool marker_user_color_{false}; + std::string custom_marker_{""}; + float marker_size_{6}; + + // Marker face + std::array marker_face_color_{0, 0.84f, 1., 1.}; + bool marker_face_user_color_{false}; + bool marker_face_ = false; + + // Function to touch the parent element + std::function touch_function_; + }; + +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_LINE_SPEC_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/detail/config.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/detail/config.h new file mode 100644 index 00000000..a2c82aa4 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/detail/config.h @@ -0,0 +1,13 @@ +// +// Copyright (c) 2023 alandefreitas (alandefreitas@gmail.com) +// +// Distributed under the Boost Software License, Version 1.0. +// https://www.boost.org/LICENSE_1_0.txt +// + +#ifndef MATPLOT_DETAIL_CONFIG_H +#define MATPLOT_DETAIL_CONFIG_H + +#include + +#endif //MATPLOT_DETAIL_CONFIG_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/detail/exports.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/detail/exports.h new file mode 100644 index 00000000..a7562d17 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/detail/exports.h @@ -0,0 +1,42 @@ + +#ifndef MATPLOT_EXPORTS_H +#define MATPLOT_EXPORTS_H + +#ifdef SHARED_EXPORTS_BUILT_AS_STATIC +# define MATPLOT_EXPORTS +# define MATPLOT_NO_EXPORT +#else +# ifndef MATPLOT_EXPORTS +# ifdef matplot_EXPORTS + /* We are building this library */ +# define MATPLOT_EXPORTS __attribute__((visibility("default"))) +# else + /* We are using this library */ +# define MATPLOT_EXPORTS __attribute__((visibility("default"))) +# endif +# endif + +# ifndef MATPLOT_NO_EXPORT +# define MATPLOT_NO_EXPORT __attribute__((visibility("hidden"))) +# endif +#endif + +#ifndef MATPLOT_DEPRECATED +# define MATPLOT_DEPRECATED __attribute__ ((__deprecated__)) +#endif + +#ifndef MATPLOT_DEPRECATED_EXPORT +# define MATPLOT_DEPRECATED_EXPORT MATPLOT_EXPORTS MATPLOT_DEPRECATED +#endif + +#ifndef MATPLOT_DEPRECATED_NO_EXPORT +# define MATPLOT_DEPRECATED_NO_EXPORT MATPLOT_NO_EXPORT MATPLOT_DEPRECATED +#endif + +#if 0 /* DEFINE_NO_DEPRECATED */ +# ifndef MATPLOT_NO_DEPRECATED +# define MATPLOT_NO_DEPRECATED +# endif +#endif + +#endif /* MATPLOT_EXPORTS_H */ diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/freestanding/axes_functions.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/freestanding/axes_functions.h new file mode 100644 index 00000000..47802a58 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/freestanding/axes_functions.h @@ -0,0 +1,485 @@ +// +// Created by Alan Freitas on 10/08/20. +// + +#ifndef MATPLOTPLUSPLUS_AXES_FUNCTIONS_H +#define MATPLOTPLUSPLUS_AXES_FUNCTIONS_H + +#include +#include + +namespace matplot { + using axes_handle = std::shared_ptr; + + /// \brief Create new axes + MATPLOT_EXPORTS + axes_handle axes(); + + /// \brief Create new axes + MATPLOT_EXPORTS + axes_handle axes(figure_handle parent, bool replace_if_overlap = false); + + /// \brief Set the current axes + MATPLOT_EXPORTS + axes_handle axes(axes_handle h); + + /// \brief Put axes in parent + MATPLOT_EXPORTS + axes_handle axes(axes_handle h, figure_handle parent, + bool replace_if_overlap = false); + + /// \brief Create new axes in a specific position with replace = false + MATPLOT_EXPORTS + axes_handle axes(std::array position); + + MATPLOT_EXPORTS + void hold(bool); + MATPLOT_EXPORTS + void hold(axes_handle, bool); + MATPLOT_EXPORTS + void hold(const std::vector &axs, bool); + + MATPLOT_EXPORTS + void box(bool); + MATPLOT_EXPORTS + void box(axes_handle, bool); + + /// Set view with azimuth and elevation + MATPLOT_EXPORTS + void view(float azimuth, float elevation); + MATPLOT_EXPORTS + void view(axes_handle ax, float azimuth, float elevation); + + /// Set view with azimuth and elevation + MATPLOT_EXPORTS + void rotate(float azimuth = 10., float elevation = 0.); + MATPLOT_EXPORTS + void rotate(axes_handle ax, float azimuth = 10., float elevation = 0.); + + /// Coordinates of a vector that starts at the center of the + /// plot box and points toward the camera (line-of-sight vector) + MATPLOT_EXPORTS + std::pair view(float x, float y, float z); + MATPLOT_EXPORTS + std::pair view(axes_handle ax, float x, float y, float z); + + /// Default line of sight for dim-D plots + /// If dim=2 "set view map" + /// If dim=3 set view to default + MATPLOT_EXPORTS + void view(size_t dim); + MATPLOT_EXPORTS + void view(axes_handle ax, size_t dim); + + /// Get view values + MATPLOT_EXPORTS + std::pair view(); + MATPLOT_EXPORTS + std::pair view(axes_handle ax); + + /// \brief Create new axes in a subplot + /// If the axes exist, make it the current axes. + /// If the axes overlap with existing axes, these are deleted, + /// unless the position is identical. + MATPLOT_EXPORTS + axes_handle subplot(size_t rows, size_t cols, size_t plot_id, + bool replace_if_same_position = false); + MATPLOT_EXPORTS + axes_handle subplot(figure_handle, size_t rows, size_t cols, size_t plot_id, + bool replace_if_same_position = false); + + /// \brief Make axes a subplot of its figure + MATPLOT_EXPORTS + axes_handle subplot(size_t rows, size_t cols, size_t plot_id, + axes_handle axes); + + /// \brief Create new axes in a subplot covering all positions in P + MATPLOT_EXPORTS + axes_handle subplot(size_t rows, size_t cols, + std::initializer_list P, + bool replace_if_same_position = false); + + /// \brief Create new axes in a specific position + MATPLOT_EXPORTS + axes_handle subplot(figure_handle f, std::array position, + bool replace_if_same_position = false); + MATPLOT_EXPORTS + axes_handle subplot(std::array position, + bool replace_if_same_position = false); + + /// \brief Make axes the current axes + /// Another way to axes(h) + MATPLOT_EXPORTS + axes_handle subplot(axes_handle h); + + /// \brief Make axes in a tiled layout + /// This is only very basic support for tiled + /// layouts. It does not include a tiledlayout + /// class we can use to adjust padding, spacing, + /// title, etc. + MATPLOT_EXPORTS + void tiledlayout(); + MATPLOT_EXPORTS + void tiledlayout(size_t rows, size_t cols); + MATPLOT_EXPORTS + axes_handle nexttile(); + MATPLOT_EXPORTS + axes_handle nexttile(size_t index); + + MATPLOT_EXPORTS + void title(std::string_view str); + MATPLOT_EXPORTS + void title(std::string_view str, const color_array &c); + + template + void title(std::string_view str, COLOR_TYPE c) { + title(str, to_array(c)); + } + + MATPLOT_EXPORTS + void title(axes_handle ax, std::string_view str); + MATPLOT_EXPORTS + void title(axes_handle ax, std::string_view str, const color_array &c); + + template + void title(axes_handle ax, std::string_view str, COLOR_TYPE c) { + title(ax, str, to_array(c)); + } + + MATPLOT_EXPORTS + void title(legend_handle lgd, std::string_view str); + + MATPLOT_EXPORTS + void sgtitle(std::string_view str); + MATPLOT_EXPORTS + void sgtitle(std::string_view str, const color_array &c); + + template + void sgtitle(std::string_view str, COLOR_TYPE c) { + sgtitle(str, to_array(c)); + } + + MATPLOT_EXPORTS + void sgtitle(axes_handle ax, std::string_view str); + MATPLOT_EXPORTS + void sgtitle(axes_handle ax, std::string_view str, const color_array &c); + + template + void sgtitle(axes_handle ax, std::string_view str, COLOR_TYPE c) { + sgtitle(ax, str, to_array(c)); + } + + MATPLOT_EXPORTS + void xlabel(std::string_view str); + MATPLOT_EXPORTS + void xlabel(axes_handle ax, std::string_view str); + MATPLOT_EXPORTS + void ylabel(std::string_view str); + MATPLOT_EXPORTS + void ylabel(axes_handle ax, std::string_view str); + MATPLOT_EXPORTS + void y2label(std::string_view str); + MATPLOT_EXPORTS + void y2label(axes_handle ax, std::string_view str); + MATPLOT_EXPORTS + void zlabel(std::string_view str); + MATPLOT_EXPORTS + void zlabel(axes_handle ax, std::string_view str); + + MATPLOT_EXPORTS + void xtickformat(std::string_view str); + MATPLOT_EXPORTS + void xtickformat(axes_handle ax, std::string_view str); + MATPLOT_EXPORTS + void ytickformat(std::string_view str); + MATPLOT_EXPORTS + void ytickformat(axes_handle ax, std::string_view str); + MATPLOT_EXPORTS + void ztickformat(std::string_view str); + MATPLOT_EXPORTS + void ztickformat(axes_handle ax, std::string_view str); + + MATPLOT_EXPORTS + std::string xtickformat(); + MATPLOT_EXPORTS + std::string xtickformat(axes_handle ax); + MATPLOT_EXPORTS + std::string ytickformat(); + MATPLOT_EXPORTS + std::string ytickformat(axes_handle ax); + MATPLOT_EXPORTS + std::string ztickformat(); + MATPLOT_EXPORTS + std::string ztickformat(axes_handle ax); + + MATPLOT_EXPORTS + void xticks(const std::vector &ticks); + MATPLOT_EXPORTS + void xticks(axes_handle ax, const std::vector &ticks); + MATPLOT_EXPORTS + void yticks(const std::vector &ticks); + MATPLOT_EXPORTS + void yticks(axes_handle ax, const std::vector &ticks); + MATPLOT_EXPORTS + void y2ticks(const std::vector &ticks); + MATPLOT_EXPORTS + void y2ticks(axes_handle ax, const std::vector &ticks); + MATPLOT_EXPORTS + void zticks(const std::vector &ticks); + MATPLOT_EXPORTS + void zticks(axes_handle ax, const std::vector &ticks); + + MATPLOT_EXPORTS + void xticks(std::initializer_list ticks); + MATPLOT_EXPORTS + void xticks(axes_handle ax, std::initializer_list ticks); + MATPLOT_EXPORTS + void yticks(std::initializer_list ticks); + MATPLOT_EXPORTS + void yticks(axes_handle ax, std::initializer_list ticks); + MATPLOT_EXPORTS + void y2ticks(std::initializer_list ticks); + MATPLOT_EXPORTS + void y2ticks(axes_handle ax, std::initializer_list ticks); + MATPLOT_EXPORTS + void zticks(std::initializer_list ticks); + MATPLOT_EXPORTS + void zticks(axes_handle ax, std::initializer_list ticks); + + MATPLOT_EXPORTS + void xticks(keyword_automatic_type); + MATPLOT_EXPORTS + void xticks(axes_handle ax, keyword_automatic_type); + MATPLOT_EXPORTS + void yticks(keyword_automatic_type); + MATPLOT_EXPORTS + void yticks(axes_handle ax, keyword_automatic_type); + MATPLOT_EXPORTS + void y2ticks(keyword_automatic_type); + MATPLOT_EXPORTS + void y2ticks(axes_handle ax, keyword_automatic_type); + MATPLOT_EXPORTS + void zticks(keyword_automatic_type); + MATPLOT_EXPORTS + void zticks(axes_handle ax, keyword_automatic_type); + + MATPLOT_EXPORTS + void xticklabels(const std::vector &ticks); + MATPLOT_EXPORTS + void xticklabels(axes_handle ax, const std::vector &ticks); + MATPLOT_EXPORTS + void yticklabels(const std::vector &ticks); + MATPLOT_EXPORTS + void yticklabels(axes_handle ax, const std::vector &ticks); + MATPLOT_EXPORTS + void y2ticklabels(const std::vector &ticks); + MATPLOT_EXPORTS + void y2ticklabels(axes_handle ax, const std::vector &ticks); + MATPLOT_EXPORTS + void zticklabels(const std::vector &ticks); + MATPLOT_EXPORTS + void zticklabels(axes_handle ax, const std::vector &ticks); + + MATPLOT_EXPORTS + void xticklabels(std::initializer_list ticks); + MATPLOT_EXPORTS + void xticklabels(axes_handle ax, std::initializer_list ticks); + MATPLOT_EXPORTS + void yticklabels(std::initializer_list ticks); + MATPLOT_EXPORTS + void yticklabels(axes_handle ax, std::initializer_list ticks); + MATPLOT_EXPORTS + void y2ticklabels(std::initializer_list ticks); + MATPLOT_EXPORTS + void y2ticklabels(axes_handle ax, std::initializer_list ticks); + MATPLOT_EXPORTS + void zticklabels(std::initializer_list ticks); + MATPLOT_EXPORTS + void zticklabels(axes_handle ax, std::initializer_list ticks); + + MATPLOT_EXPORTS + void xticklabels(keyword_automatic_type); + MATPLOT_EXPORTS + void xticklabels(axes_handle ax, keyword_automatic_type); + MATPLOT_EXPORTS + void yticklabels(keyword_automatic_type); + MATPLOT_EXPORTS + void yticklabels(axes_handle ax, keyword_automatic_type); + MATPLOT_EXPORTS + void y2ticklabels(keyword_automatic_type); + MATPLOT_EXPORTS + void y2ticklabels(axes_handle ax, keyword_automatic_type); + MATPLOT_EXPORTS + void zticklabels(keyword_automatic_type); + MATPLOT_EXPORTS + void zticklabels(axes_handle ax, keyword_automatic_type); + + MATPLOT_EXPORTS + void xtickangle(double degrees); + MATPLOT_EXPORTS + void xtickangle(axes_handle ax, double degrees); + MATPLOT_EXPORTS + void ytickangle(double degrees); + MATPLOT_EXPORTS + void ytickangle(axes_handle ax, double degrees); + MATPLOT_EXPORTS + void y2tickangle(double degrees); + MATPLOT_EXPORTS + void y2tickangle(axes_handle ax, double degrees); + MATPLOT_EXPORTS + void ztickangle(double degrees); + MATPLOT_EXPORTS + void ztickangle(axes_handle ax, double degrees); + + MATPLOT_EXPORTS + double xtickangle(); + MATPLOT_EXPORTS + double xtickangle(axes_handle ax); + MATPLOT_EXPORTS + double ytickangle(); + MATPLOT_EXPORTS + double ytickangle(axes_handle ax); + MATPLOT_EXPORTS + double y2tickangle(); + MATPLOT_EXPORTS + double y2tickangle(axes_handle ax); + MATPLOT_EXPORTS + double ztickangle(); + MATPLOT_EXPORTS + double ztickangle(axes_handle ax); + + MATPLOT_EXPORTS + void grid(axes_handle ax, bool v); + MATPLOT_EXPORTS + void grid(bool v); + + /// \brief Get the current axes + MATPLOT_EXPORTS + axes_handle gca(); + + MATPLOT_EXPORTS + void cla(); + MATPLOT_EXPORTS + void cla(axes_handle); + + /// Put legends on the figure + MATPLOT_EXPORTS + legend_handle legend(axes_handle ax, const std::vector &names); + MATPLOT_EXPORTS + legend_handle legend(const std::vector &names); + + MATPLOT_EXPORTS + legend_handle legend(axes_handle ax, bool visible = true); + MATPLOT_EXPORTS + legend_handle legend(bool visible = true); + + MATPLOT_EXPORTS + legend_handle legend(std::vector objs, + const std::vector &names); + + // Hackfix for a compiler bug in MSVC + namespace { + template + legend_handle legend(axes_handle ax, std::string_view name, + Args const &... next_name) { + std::vector legends = {std::string(name), std::string(next_name)...}; + return ::matplot::legend(ax, legends); + } + + template + legend_handle legend(std::string_view name, + Args const &... next_name) { + return legend(gca(), name, next_name...); + } + } // namespace + + MATPLOT_EXPORTS + void colormap(axes_handle ax, const std::vector> &map); + MATPLOT_EXPORTS + void colormap(const std::vector> &map); + + MATPLOT_EXPORTS + std::vector> colormap(axes_handle ax); + MATPLOT_EXPORTS + std::vector> colormap(); + + template + void colororder(axes_handle ax, const std::vector &order) { + ax->colororder(order); + } + + template void colororder(const std::vector &order) { + colororder(gca(), order); + } + + template void colororder(std::initializer_list order) { + colororder(gca(), std::vector{order}); + } + + /// Set x limits + MATPLOT_EXPORTS + void xrange(const std::array &range); + MATPLOT_EXPORTS + void xrange(axes_handle ah, const std::array &range); + + /// Set y limits + MATPLOT_EXPORTS + void yrange(const std::array &range); + MATPLOT_EXPORTS + void yrange(axes_handle ah, const std::array &range); + + /// Enable colorbar axis + MATPLOT_EXPORTS + axis_type &colorbar(); + MATPLOT_EXPORTS + axis_type &colorbar(axes_handle ah); + MATPLOT_EXPORTS + class axis_type &colorbar(bool v); + MATPLOT_EXPORTS + class axis_type &colorbar(axes_handle ah, bool v); + + /// Set limits of x and y axes + MATPLOT_EXPORTS + void axis(const std::array &limits_x_y); + MATPLOT_EXPORTS + void axis(axes_handle axes_handle, const std::array &limits_x_y); + MATPLOT_EXPORTS + void axis(std::initializer_list axes_handles, + const std::array &limits_x_y); + + /// Make axis visible invisible + MATPLOT_EXPORTS + void axis(bool); + + /// Set limits to automatic + MATPLOT_EXPORTS + void axis(keyword_automatic_type); + + /// Set limits to manual + MATPLOT_EXPORTS + void axis(keyword_manual_type); + + /// Reverse y-axis + MATPLOT_EXPORTS + void axis(keyword_ij_type); + + /// Make xlim equal size (ratio -1) + MATPLOT_EXPORTS + void axis(keyword_equal_type); + MATPLOT_EXPORTS + void axis(axes_handle, keyword_equal_type); + + /// Make xlim equal size (ratio -1) + MATPLOT_EXPORTS + void axis(keyword_tight_type); + MATPLOT_EXPORTS + void axis(axes_handle, keyword_tight_type); + + /// Make xlim equal size (ratio 1) + MATPLOT_EXPORTS + void axis(keyword_square_type); + MATPLOT_EXPORTS + void axis(axes_handle, keyword_square_type); +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_AXES_FUNCTIONS_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/freestanding/axes_lim.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/freestanding/axes_lim.h new file mode 100644 index 00000000..6827a17a --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/freestanding/axes_lim.h @@ -0,0 +1,239 @@ +// +// Created by Alan Freitas on 04/08/20. +// + +#ifndef MATPLOTPLUSPLUS_AXES_LIM_H +#define MATPLOTPLUSPLUS_AXES_LIM_H + +#include + +namespace matplot { + inline std::array xlim() { return gca()->xlim(); } + + inline void xlim(const std::array &lim) { gca()->xlim(lim); } + + inline void xlim(std::initializer_list lim) { + if (lim.size() >= 2) { + gca()->xlim(to_array<2>(lim)); + } + } + + template void xlim(axes_handle ax, Args&&... args) { + ax->xlim(std::forward(args)...); + } + + template + void xlim(NotAxesHandle x, Args&&... args) { + gca()->xlim(x, std::forward(args)...); + } + + inline std::array cblim() { return gca()->cblim(); } + + inline void cblim(const std::array &lim) { gca()->cblim(lim); } + + inline void cblim(std::initializer_list lim) { + if (lim.size() >= 2) { + gca()->cblim(to_array<2>(lim)); + } + } + + template void cblim(axes_handle ax, Args&&... args) { + ax->cblim(std::forward(args)...); + } + + template + void cblim(NotAxesHandle x, Args&&... args) { + gca()->cblim(x, std::forward(args)...); + } + + inline std::array caxis() { return gca()->cblim(); } + + inline void caxis(const std::array &lim) { gca()->cblim(lim); } + + inline void caxis(std::initializer_list lim) { + if (lim.size() >= 2) { + gca()->cblim(to_array<2>(lim)); + } + } + + template void caxis(axes_handle ax, Args&&... args) { + ax->cblim(std::forward(args)...); + } + + template + void caxis(NotAxesHandle x, Args&&... args) { + gca()->cblim(x, std::forward(args)...); + } + + inline std::array x2lim() { return gca()->x2lim(); } + + inline void x2lim(const std::array &lim) { gca()->x2lim(lim); } + + inline void x2lim(std::initializer_list lim) { + if (lim.size() >= 2) { + gca()->x2lim(to_array<2>(lim)); + } + } + + template void x2lim(axes_handle ax, Args&&... args) { + ax->x2lim(std::forward(args)...); + } + + template + void x2lim(NotAxesHandle x, Args&&... args) { + gca()->x2lim(x, std::forward(args)...); + } + + inline std::array ylim() { return gca()->ylim(); } + + inline void ylim(const std::array &lim) { gca()->ylim(lim); } + + inline void ylim(std::initializer_list lim) { + if (lim.size() >= 2) { + gca()->ylim(to_array<2>(lim)); + } + } + + template void ylim(axes_handle ax, Args&&... args) { + ax->ylim(std::forward(args)...); + } + + template + void ylim(NotAxesHandle x, Args&&... args) { + gca()->ylim(x, std::forward(args)...); + } + + inline std::array y2lim() { return gca()->y2lim(); } + + inline void y2lim(const std::array &lim) { gca()->y2lim(lim); } + + inline void y2lim(std::initializer_list lim) { + if (lim.size() >= 2) { + gca()->y2lim(to_array<2>(lim)); + } + } + + template void y2lim(axes_handle ax, Args&&... args) { + ax->y2lim(std::forward(args)...); + } + + template + void y2lim(NotAxesHandle x, Args&&... args) { + gca()->y2lim(x, std::forward(args)...); + } + + inline std::array zlim() { return gca()->zlim(); } + + inline void zlim(const std::array &lim) { gca()->zlim(lim); } + + inline void zlim(std::initializer_list lim) { + if (lim.size() >= 2) { + gca()->zlim(to_array<2>(lim)); + } + } + + template void zlim(axes_handle ax, Args&&... args) { + ax->zlim(std::forward(args)...); + } + + template + void zlim(NotAxesHandle x, Args&&... args) { + gca()->zlim(x, std::forward(args)...); + } + + inline std::array rlim() { return gca()->rlim(); } + + inline void rlim(const std::array &lim) { gca()->rlim(lim); } + + inline void rlim(std::initializer_list lim) { + if (lim.size() >= 2) { + gca()->rlim(to_array<2>(lim)); + } + } + + template void rlim(axes_handle ax, Args&&... args) { + ax->rlim(std::forward(args)...); + } + + template + void rlim(NotAxesHandle x, Args&&... args) { + gca()->rlim(x, std::forward(args)...); + } + + inline std::array tlim() { return gca()->tlim(); } + + inline void tlim(const std::array &lim) { gca()->tlim(lim); } + + inline void tlim(std::initializer_list lim) { + if (lim.size() >= 2) { + gca()->tlim(to_array<2>(lim)); + } + } + + template void tlim(axes_handle ax, Args&&... args) { + ax->tlim(std::forward(args)...); + } + + template + void tlim(NotAxesHandle x, Args&&... args) { + gca()->tlim(x, std::forward(args)...); + } + + inline std::array xlim(axes_handle ax) { + return ax->xlim(); + } + + inline void xlim(axes_handle ax, const std::array &lim) { + ax->xlim(lim); + } + + inline std::array x2lim(axes_handle ax) { + return ax->x2lim(); + } + + inline void x2lim(axes_handle ax, const std::array &lim) { + ax->x2lim(lim); + } + + inline std::array ylim(axes_handle ax) { + return ax->ylim(); + } + + inline void ylim(axes_handle ax, const std::array &lim) { + ax->ylim(lim); + } + + inline std::array y2lim(axes_handle ax) { + return ax->y2lim(); + } + + inline void y2lim(axes_handle ax, const std::array &lim) { + ax->y2lim(lim); + } + + inline std::array zlim(axes_handle ax) { + return ax->zlim(); + } + + inline void zlim(axes_handle ax, const std::array &lim) { + ax->zlim(lim); + } + + inline std::array rlim(axes_handle ax) { + return ax->rlim(); + } + + inline void rlim(axes_handle ax, const std::array &lim) { + ax->rlim(lim); + } + + inline std::array tlim(axes_handle ax) { + return ax->tlim(); + } + + inline void tlim(axes_handle ax, const std::array &lim) { + ax->tlim(lim); + } +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_AXES_LIM_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/freestanding/figure_functions.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/freestanding/figure_functions.h new file mode 100644 index 00000000..801a2b0e --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/freestanding/figure_functions.h @@ -0,0 +1,10 @@ +// +// Created by Alan Freitas on 11/08/20. +// + +#ifndef MATPLOTPLUSPLUS_FIGURE_FUNCTIONS_H +#define MATPLOTPLUSPLUS_FIGURE_FUNCTIONS_H + +namespace matplot {} + +#endif // MATPLOTPLUSPLUS_FIGURE_FUNCTIONS_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/freestanding/histcounts.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/freestanding/histcounts.h new file mode 100644 index 00000000..6b86222c --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/freestanding/histcounts.h @@ -0,0 +1,64 @@ +// +// Created by Alan Freitas on 10/08/20. +// + +#ifndef MATPLOTPLUSPLUS_HISTCOUNTS_H +#define MATPLOTPLUSPLUS_HISTCOUNTS_H + +#include + +#include + +namespace matplot { + /// Histogram count with custom binning and custom normalization + /// \return Pair with + MATPLOT_EXPORTS + std::pair, std::vector> + histcounts(const std::vector &data, + enum histogram::binning_algorithm binning_alg = + histogram::binning_algorithm::automatic, + enum histogram::normalization normalization_alg = + histogram::normalization::count); + + /// Histogram count with automatic binning and custom normalization + /// \return pair with + MATPLOT_EXPORTS + std::pair, std::vector> + histcounts(const std::vector &data, + enum histogram::normalization normalization_alg); + + /// Histogram count with fixed number of bins + /// \return pair with + MATPLOT_EXPORTS + std::pair, std::vector> + histcounts(const std::vector &data, size_t nbins, + enum histogram::normalization normalization_alg = + histogram::normalization::count); + + /// Histogram count with fixed edges + /// \return normalized values for each edge + MATPLOT_EXPORTS + std::vector + histcounts(const std::vector &data, + const std::vector &edges, + enum histogram::normalization normalization_alg = + histogram::normalization::count); + + /// Normalize the number of points in a bin + MATPLOT_EXPORTS + std::vector> + histnormalize2(const std::vector> &bin_count, + const std::vector &xbin_edges, + const std::vector &ybin_edges, size_t data_size, + enum histogram::normalization normalization_algorithm); + + /// Count number of points in each bin defined by the 2 dimensional edges + MATPLOT_EXPORTS + std::vector> histcounts2( + const std::vector &x_data, const std::vector &y_data, + const std::vector &x_edges, const std::vector &y_edges, + enum histogram::normalization normalization_algorithm = + histogram::normalization::count); +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_HISTCOUNTS_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/freestanding/plot.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/freestanding/plot.h new file mode 100644 index 00000000..a7af0004 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/freestanding/plot.h @@ -0,0 +1,989 @@ +// +// Created by Alan Freitas on 2020-07-08. +// + +#ifndef MATPLOTPLUSPLUS_PLOT_H +#define MATPLOTPLUSPLUS_PLOT_H + +#include +#include + +#include +#include + +#include +#include + +#include + +/** + * These are the freestanding plot functions + * These functions will call the corresponding functions in the axes handle + * If no axes handle is given, it will call the function in the current + * axes handle in the current figure. + * If there is no current axes handle, one is created in the current figure. + * If there is no current figure, one is created. + * + * They always forward the arguments as a parameter pack class ...Args. + * One problem with this is that the functions cannot infer what to do with + * initializer lists. So one needs to pass an explicit vector or array to + * the functions. In some cases, we explicitly define these shortcut + * functions without templates to make the use of initializer lists + * possible. + */ +namespace matplot { + template + auto plot(NotAxesHandle x, Args&&... args) { + return gca()->plot(x, std::forward(args)...); + } + + template auto plot(axes_handle ax, Args&&... args) { + return ax->plot(std::forward(args)...); + } + + inline line_handle plot(const std::vector &x, + const std::vector &y, + std::string_view line_spec = "") { + return gca()->plot(x, y, line_spec); + } + + inline line_handle plot(const std::vector &y, + std::string_view line_spec = "") { + return gca()->plot(y, line_spec); + } + + template + auto plot(const std::vector &x, const std::vector &y, + std::string_view line_spec, Args&&... args) { + return gca()->plot(x, y, line_spec, std::forward(args)...); + } + + template + auto plot(const std::vector &x, const std::vector &y, + const std::vector &x2, Args&&... args) { + return gca()->plot(x, y, x2, std::forward(args)...); + } + + template + auto plot(const std::vector &y, std::string_view line_spec, + Args&&... args) { + return gca()->plot(y, line_spec, std::forward(args)...); + } + + inline line_handle plot(axes_handle ax, const std::vector &x, + const std::vector &y, + std::string_view line_spec = "") { + return ax->plot(x, y, line_spec); + } + + inline line_handle plot(axes_handle ax, const std::vector &y, + std::string_view line_spec = "") { + return ax->plot(y, line_spec); + } + + template + auto plot(axes_handle ax, const std::vector &x, + const std::vector &y, std::string_view line_spec, + Args&&... args) { + return ax->plot(x, y, line_spec, std::forward(args)...); + } + + template + auto plot(axes_handle ax, const std::vector &x, + const std::vector &y, const std::vector &x2, + Args&&... args) { + return ax->plot(x, y, x2, std::forward(args)...); + } + + template + auto plot(axes_handle ax, const std::vector &y, + std::string_view line_spec, Args&&... args) { + return ax->plot(y, line_spec, std::forward(args)...); + } + + template + auto loglog(NotAxesHandle x, Args&&... args) { + return gca()->loglog(x, std::forward(args)...); + } + + template auto loglog(axes_handle ax, Args&&... args) { + return ax->loglog(std::forward(args)...); + } + + template + auto semilogx(NotAxesHandle x, Args&&... args) { + return gca()->semilogx(x, std::forward(args)...); + } + + template auto semilogx(axes_handle ax, Args&&... args) { + return ax->semilogx(std::forward(args)...); + } + + template + auto semilogy(NotAxesHandle x, Args&&... args) { + return gca()->semilogy(x, std::forward(args)...); + } + + template auto semilogy(axes_handle ax, Args&&... args) { + return ax->semilogy(std::forward(args)...); + } + + template + auto rgbplot(NotAxesHandle x, Args&&... args) { + return gca()->rgbplot(x, std::forward(args)...); + } + + template auto rgbplot(axes_handle ax, Args&&... args) { + return ax->rgbplot(std::forward(args)...); + } + + template + auto plot3(NotAxesHandle x, Args&&... args) { + return gca()->plot3(x, std::forward(args)...); + } + + template auto plot3(axes_handle ax, Args&&... args) { + return ax->plot3(std::forward(args)...); + } + + template + auto stairs(NotAxesHandle x, Args&&... args) { + return gca()->stairs(x, std::forward(args)...); + } + + template auto stairs(axes_handle ax, Args&&... args) { + return ax->stairs(std::forward(args)...); + } + + template + auto errorbar(NotAxesHandle x, Args&&... args) { + return gca()->errorbar(x, std::forward(args)...); + } + + template auto errorbar(axes_handle ax, Args&&... args) { + return ax->errorbar(std::forward(args)...); + } + + template + auto area(NotAxesHandle x, Args&&... args) { + return gca()->area(x, std::forward(args)...); + } + + template auto area(axes_handle ax, Args&&... args) { + return ax->area(std::forward(args)...); + } + + template + auto fplot(NotAxesHandle x, Args&&... args) { + return gca()->fplot(x, std::forward(args)...); + } + + template auto fplot(axes_handle ax, Args&&... args) { + return ax->fplot(std::forward(args)...); + } + + template + auto fimplicit(NotAxesHandle x, Args&&... args) { + return gca()->fimplicit(x, std::forward(args)...); + } + + template auto fimplicit(axes_handle ax, Args&&... args) { + return ax->fimplicit(std::forward(args)...); + } + + template + auto fplot3(NotAxesHandle x, Args&&... args) { + return gca()->fplot3(x, std::forward(args)...); + } + + template auto fplot3(axes_handle ax, Args&&... args) { + return ax->fplot3(std::forward(args)...); + } + + template + auto hist(NotAxesHandle x, Args&&... args) { + return gca()->hist(x, std::forward(args)...); + } + + template auto hist(axes_handle ax, Args&&... args) { + return ax->hist(std::forward(args)...); + } + + inline size_t morebins(histogram_handle h, double bin_increase = 0.1) { + return h->morebins(bin_increase); + } + + inline size_t fewerbins(histogram_handle h, double bin_decrease = 0.1) { + return h->fewerbins(bin_decrease); + } + + template + auto binscatter(NotAxesHandle x, Args&&... args) { + return gca()->binscatter(x, std::forward(args)...); + } + + template auto binscatter(axes_handle ax, Args&&... args) { + return ax->binscatter(std::forward(args)...); + } + + template + auto hist2(NotAxesHandle x, Args&&... args) { + return gca()->hist2(x, std::forward(args)...); + } + + template auto hist2(axes_handle ax, Args&&... args) { + return ax->hist2(std::forward(args)...); + } + + template + auto bar(NotAxesHandle x, Args&&... args) { + return gca()->bar(x, std::forward(args)...); + } + + template auto bar(axes_handle ax, Args&&... args) { + return ax->bar(std::forward(args)...); + } + + template + auto barstacked(NotAxesHandle x, Args&&... args) { + return gca()->barstacked(x, std::forward(args)...); + } + + template auto barstacked(axes_handle ax, Args&&... args) { + return ax->barstacked(std::forward(args)...); + } + + template + auto heatmap(NotAxesHandle x, Args&&... args) { + return gca()->heatmap(x, std::forward(args)...); + } + + template auto heatmap(axes_handle ax, Args&&... args) { + return ax->heatmap(std::forward(args)...); + } + + template + auto pcolor(NotAxesHandle x, Args&&... args) { + return gca()->pcolor(x, std::forward(args)...); + } + + template auto pcolor(axes_handle ax, Args&&... args) { + return ax->pcolor(std::forward(args)...); + } + + template + auto parallelplot(NotAxesHandle x, Args&&... args) { + return gca()->parallelplot(x, std::forward(args)...); + } + + template auto parallelplot(axes_handle ax, Args&&... args) { + return ax->parallelplot(std::forward(args)...); + } + + template + auto pie(NotAxesHandle x, Args&&... args) { + return gca()->pie(x, std::forward(args)...); + } + + template auto pie(axes_handle ax, Args&&... args) { + return ax->pie(std::forward(args)...); + } + + template + auto plotmatrix(NotFigureHandle x, Args&&... args) { + return gcf()->plotmatrix(x, std::forward(args)...); + } + + template auto plotmatrix(figure_handle f, Args&&... args) { + return f->plotmatrix(std::forward(args)...); + } + + template + auto scatter(NotAxesHandle x, Args&&... args) { + return gca()->scatter(x, std::forward(args)...); + } + + template auto scatter(axes_handle ax, Args&&... args) { + return ax->scatter(std::forward(args)...); + } + + template + auto scatter3(NotAxesHandle x, Args&&... args) { + return gca()->scatter3(x, std::forward(args)...); + } + + template auto scatter3(axes_handle ax, Args&&... args) { + return ax->scatter3(std::forward(args)...); + } + + template + auto wordcloud(NotAxesHandle x, Args&&... args) { + return gca()->wordcloud(x, std::forward(args)...); + } + + template auto wordcloud(axes_handle ax, Args&&... args) { + return ax->wordcloud(std::forward(args)...); + } + + template + auto pareto(NotAxesHandle x, Args&&... args) { + return gca()->pareto(x, std::forward(args)...); + } + + template auto pareto(axes_handle ax, Args&&... args) { + return ax->pareto(std::forward(args)...); + } + + template + auto stem(NotAxesHandle x, Args&&... args) { + return gca()->stem(x, std::forward(args)...); + } + + template auto stem(axes_handle ax, Args&&... args) { + return ax->stem(std::forward(args)...); + } + + template + auto stem3(NotAxesHandle x, Args&&... args) { + return gca()->stem3(x, std::forward(args)...); + } + + template auto stem3(axes_handle ax, Args&&... args) { + return ax->stem3(std::forward(args)...); + } + + template + auto geobubble(NotAxesHandle x, Args&&... args) { + return gca()->geobubble(x, std::forward(args)...); + } + + template auto geobubble(axes_handle ax, Args&&... args) { + return ax->geobubble(std::forward(args)...); + } + + template + auto geodensityplot(NotAxesHandle x, Args&&... args) { + return gca()->geodensityplot(x, std::forward(args)...); + } + + template auto geodensityplot(axes_handle ax, Args&&... args) { + return ax->geodensityplot(std::forward(args)...); + } + + template + auto geoplot(NotAxesHandle x, Args&&... args) { + return gca()->geoplot(x, std::forward(args)...); + } + + template auto geoplot(axes_handle ax, Args&&... args) { + return ax->geoplot(std::forward(args)...); + } + + inline auto geoplot() { return gca()->geoplot(); } + + template + void geolimits(NotAxesHandle x, Args&&... args) { + gca()->geolimits(x, std::forward(args)...); + } + + template void geolimits(axes_handle ax, Args&&... args) { + ax->geolimits(std::forward(args)...); + } + + inline void geolimits(const std::array &latitude, + const std::array &longitude) { + gca()->geolimits(latitude, longitude); + } + + inline void geolimits(axes_handle ax, const std::array &latitude, + const std::array &longitude) { + ax->geolimits(latitude, longitude); + } + + template + auto geoscatter(NotAxesHandle x, Args&&... args) { + return gca()->geoscatter(x, std::forward(args)...); + } + + template auto geoscatter(axes_handle ax, Args&&... args) { + return ax->geoscatter(std::forward(args)...); + } + + template + auto compass(NotAxesHandle x, Args&&... args) { + return gca()->compass(x, std::forward(args)...); + } + + template auto compass(axes_handle ax, Args&&... args) { + return ax->compass(std::forward(args)...); + } + + template + auto ezpolar(NotAxesHandle x, Args&&... args) { + return gca()->ezpolar(x, std::forward(args)...); + } + + template auto ezpolar(axes_handle ax, Args&&... args) { + return ax->ezpolar(std::forward(args)...); + } + + template + auto polarhistogram(NotAxesHandle x, Args&&... args) { + return gca()->polarhistogram(x, std::forward(args)...); + } + + template auto polarhistogram(axes_handle ax, Args&&... args) { + return ax->polarhistogram(std::forward(args)...); + } + + template + auto polarplot(NotAxesHandle x, Args&&... args) { + return gca()->polarplot(x, std::forward(args)...); + } + + template auto polarplot(axes_handle ax, Args&&... args) { + return ax->polarplot(std::forward(args)...); + } + + template + auto polarscatter(NotAxesHandle x, Args&&... args) { + return gca()->polarscatter(x, std::forward(args)...); + } + + template auto polarscatter(axes_handle ax, Args&&... args) { + return ax->polarscatter(std::forward(args)...); + } + + template auto contour(axes_handle ax, Args&&... args) { + return ax->contour(std::forward(args)...); + } + + template + auto contour(axes_handle ax, T1 v1, T2 v2, T3 v3, + const std::vector &il) { + return ax->contour(v1, v2, v3, il); + } + + template + auto contour(NotAxesHandle x, Args&&... args) { + return contour(gca(), x, std::forward(args)...); + } + + template auto contourf(axes_handle ax, Args&&... args) { + return ax->contourf(std::forward(args)...); + } + + template + auto contourf(axes_handle ax, T1 v1, T2 v2, T3 v3, + const std::vector &il) { + return ax->contourf(v1, v2, v3, il); + } + + template + auto contourf(T1 v1, T2 v2, T3 v3, const std::vector &il) { + return gca()->contourf(v1, v2, v3, il); + } + + template + auto contourf(NotAxesHandle x, Args&&... args) { + return contourf(gca(), x, std::forward(args)...); + } + + template auto fcontour(axes_handle ax, Args&&... args) { + return ax->fcontour(std::forward(args)...); + } + + template + auto fcontour(NotAxesHandle x, Args&&... args) { + return gca()->fcontour(x, std::forward(args)...); + } + + inline contours_handle fcontour(axes_type::fcontour_function_type fn, + const std::array &xy_range, + std::vector levels, + std::string_view line_spec = "") { + return gca()->fcontour(fn, xy_range, levels, line_spec); + } + + inline contours_handle fcontour(axes_type::fcontour_function_type fn, + std::string_view line_spec) { + return gca()->fcontour(fn, line_spec); + } + + inline contours_handle fcontour(axes_handle ax, + axes_type::fcontour_function_type fn, + const std::array &xy_range, + std::vector levels, + std::string_view line_spec = "") { + return ax->fcontour(fn, xy_range, levels, line_spec); + } + + inline contours_handle fcontour(axes_handle ax, + axes_type::fcontour_function_type fn, + std::string_view line_spec) { + return ax->fcontour(fn, line_spec); + } + + template + auto feather(NotAxesHandle x, Args&&... args) { + return gca()->feather(x, std::forward(args)...); + } + + template auto feather(axes_handle ax, Args&&... args) { + return ax->feather(std::forward(args)...); + } + + template + auto quiver(NotAxesHandle x, Args&&... args) { + return gca()->quiver(x, std::forward(args)...); + } + + template auto quiver(axes_handle ax, Args&&... args) { + return ax->quiver(std::forward(args)...); + } + + template + auto quiver3(NotAxesHandle x, Args&&... args) { + return gca()->quiver3(x, std::forward(args)...); + } + + template auto quiver3(axes_handle ax, Args&&... args) { + return ax->quiver3(std::forward(args)...); + } + + template + auto fence(NotAxesHandle x, Args&&... args) { + return gca()->fence(x, std::forward(args)...); + } + + template auto fence(axes_handle ax, Args&&... args) { + return ax->fence(std::forward(args)...); + } + + template + auto fmesh(NotAxesHandle x, Args&&... args) { + return gca()->fmesh(x, std::forward(args)...); + } + + template auto fmesh(axes_handle ax, Args&&... args) { + return ax->fmesh(std::forward(args)...); + } + + template + auto fsurf(NotAxesHandle x, Args&&... args) { + return gca()->fsurf(x, std::forward(args)...); + } + + template auto fsurf(axes_handle ax, Args&&... args) { + return ax->fsurf(std::forward(args)...); + } + + inline surface_handle fsurf(axes_type::fcontour_function_type fn, + const std::array &x_range, + const std::array &y_range, + std::string_view line_spec = "", + double mesh_density = 40) { + return gca()->fsurf(fn, x_range, y_range, line_spec, mesh_density); + } + + inline surface_handle fsurf(axes_type::fcontour_function_type funx, + axes_type::fcontour_function_type funy, + axes_type::fcontour_function_type funz, + const std::array &u_range, + const std::array &v_range, + std::string_view line_spec = "", + double mesh_density = 40) { + return gca()->fsurf(funx, funy, funz, u_range, v_range, line_spec, + mesh_density); + } + + /// Function surf + /// Grid / Both ranges in the same array size 4 + inline surface_handle fsurf(axes_type::fcontour_function_type fn, + const std::array &xy_range, + std::string_view line_spec = "", + double mesh_density = 40) { + return gca()->fsurf(fn, xy_range, line_spec, mesh_density); + } + + /// Function surf + /// Grid / Both ranges in the same array size 4 + inline surface_handle fsurf(axes_type::fcontour_function_type fn, + std::initializer_list xy_range, + std::string_view line_spec = "", + double mesh_density = 40) { + return gca()->fsurf(fn, xy_range, line_spec, mesh_density); + } + + /// Parametric / Both ranges in the same array size 4 + inline surface_handle fsurf(axes_type::fcontour_function_type funx, + axes_type::fcontour_function_type funy, + axes_type::fcontour_function_type funz, + const std::array &uv_range, + std::string_view line_spec = "", + double mesh_density = 40) { + return gca()->fsurf(funx, funy, funz, uv_range, line_spec, + mesh_density); + } + + /// Function surf + /// Grid / Both ranges in the same array size 2 + inline surface_handle + fsurf(axes_type::fcontour_function_type fn, + const std::array &xy_range = {-5, +5}, + std::string_view line_spec = "", double mesh_density = 40) { + return gca()->fsurf(fn, xy_range, line_spec, mesh_density); + } + + /// Function surf + /// Parametric / Both ranges in the same array size 2 + inline surface_handle + fsurf(axes_type::fcontour_function_type funx, + axes_type::fcontour_function_type funy, + axes_type::fcontour_function_type funz, + const std::array &uv_range = {-5, +5}, + std::string_view line_spec = "", double mesh_density = 40) { + return gca()->fsurf(funx, funy, funz, uv_range, line_spec, + mesh_density); + } + + inline surface_handle fsurf(axes_type::fcontour_function_type funx, + axes_type::fcontour_function_type funy, + axes_type::fcontour_function_type funz, + std::initializer_list &uv_range, + std::string_view line_spec = "", + double mesh_density = 40) { + return gca()->fsurf(funx, funy, funz, uv_range, line_spec, + mesh_density); + } + + /// Function surf - Core function + inline surface_handle fsurf(axes_handle ax, + axes_type::fcontour_function_type fn, + const std::array &x_range, + const std::array &y_range, + std::string_view line_spec = "", + double mesh_density = 40) { + return ax->fsurf(fn, x_range, y_range, line_spec, mesh_density); + } + + /// Function surf - Parametric + /// Core parametric function + inline surface_handle fsurf(axes_handle ax, + axes_type::fcontour_function_type funx, + axes_type::fcontour_function_type funy, + axes_type::fcontour_function_type funz, + const std::array &u_range, + const std::array &v_range, + std::string_view line_spec = "", + double mesh_density = 40) { + return ax->fsurf(funx, funy, funz, u_range, v_range, line_spec, + mesh_density); + } + + /// Function surf + /// Grid / Both ranges in the same array size 4 + inline surface_handle fsurf(axes_handle ax, + axes_type::fcontour_function_type fn, + const std::array &xy_range, + std::string_view line_spec = "", + double mesh_density = 40) { + return ax->fsurf(fn, xy_range, line_spec, mesh_density); + } + + /// Parametric / Both ranges in the same array size 4 + inline surface_handle fsurf(axes_handle ax, + axes_type::fcontour_function_type funx, + axes_type::fcontour_function_type funy, + axes_type::fcontour_function_type funz, + const std::array &uv_range, + std::string_view line_spec = "", + double mesh_density = 40) { + return ax->fsurf(funx, funy, funz, uv_range, line_spec, mesh_density); + } + + /// Function surf + /// Grid / Both ranges in the same array size 2 + inline surface_handle + fsurf(axes_handle ax, axes_type::fcontour_function_type fn, + const std::array &xy_range = {-5, +5}, + std::string_view line_spec = "", double mesh_density = 40) { + return ax->fsurf(fn, xy_range, line_spec, mesh_density); + } + + /// Function surf + /// Parametric / Both ranges in the same array size 2 + inline surface_handle + fsurf(axes_handle ax, axes_type::fcontour_function_type funx, + axes_type::fcontour_function_type funy, + axes_type::fcontour_function_type funz, + const std::array &uv_range = {-5, +5}, + std::string_view line_spec = "", double mesh_density = 40) { + return ax->fsurf(funx, funy, funz, uv_range, line_spec, mesh_density); + } + + inline surface_handle fsurf(axes_handle ax, + axes_type::fcontour_function_type funx, + axes_type::fcontour_function_type funy, + axes_type::fcontour_function_type funz, + std::initializer_list &uv_range, + std::string_view line_spec = "", + double mesh_density = 40) { + return ax->fsurf(funx, funy, funz, uv_range, line_spec, mesh_density); + } + + template + auto mesh(NotAxesHandle x, Args&&... args) { + return gca()->mesh(x, std::forward(args)...); + } + + template auto mesh(axes_handle ax, Args&&... args) { + return ax->mesh(std::forward(args)...); + } + + template + auto meshc(NotAxesHandle x, Args&&... args) { + return gca()->meshc(x, std::forward(args)...); + } + + template auto meshc(axes_handle ax, Args&&... args) { + return ax->meshc(std::forward(args)...); + } + + template + auto meshz(NotAxesHandle x, Args&&... args) { + return gca()->meshz(x, std::forward(args)...); + } + + template auto meshz(axes_handle ax, Args&&... args) { + return ax->meshz(std::forward(args)...); + } + + template + auto ribbon(NotAxesHandle x, Args&&... args) { + return gca()->ribbon(x, std::forward(args)...); + } + + template auto ribbon(axes_handle ax, Args&&... args) { + return ax->ribbon(std::forward(args)...); + } + + template + auto surf(NotAxesHandle x, Args&&... args) { + return gca()->surf(x, std::forward(args)...); + } + + template auto surf(axes_handle ax, Args&&... args) { + return ax->surf(std::forward(args)...); + } + + template + auto surfc(NotAxesHandle x, Args&&... args) { + return gca()->surfc(x, std::forward(args)...); + } + + template auto surfc(axes_handle ax, Args&&... args) { + return ax->surfc(std::forward(args)...); + } + + template + auto waterfall(NotAxesHandle x, Args&&... args) { + return gca()->waterfall(x, std::forward(args)...); + } + + template auto waterfall(axes_handle ax, Args&&... args) { + return ax->waterfall(std::forward(args)...); + } + + template + auto graph(NotAxesHandle x, Args&&... args) { + return gca()->graph(x, std::forward(args)...); + } + + template auto graph(axes_handle ax, Args&&... args) { + return ax->graph(std::forward(args)...); + } + + template + auto imshow(NotAxesHandle x, Args&&... args) { + return gca()->imshow(x, std::forward(args)...); + } + + template auto imshow(axes_handle ax, Args&&... args) { + return ax->imshow(std::forward(args)...); + } + + template + auto image(NotAxesHandle x, Args&&... args) { + return gca()->image(x, std::forward(args)...); + } + + template auto image(axes_handle ax, Args&&... args) { + return ax->image(std::forward(args)...); + } + + template + auto text(NotAxesHandle x, Args&&... args) { + return gca()->text(x, std::forward(args)...); + } + + template auto text(axes_handle ax, Args&&... args) { + return ax->text(std::forward(args)...); + } + + inline labels_handle text(const std::vector &x, + const std::vector &y, + const std::vector &texts) { + return gca()->text(x, y, texts); + } + + inline labels_handle text(const std::vector &x, + const std::vector &y, + std::string_view str) { + return gca()->text(x, y, str); + } + + inline labels_handle text(axes_handle ax, const std::vector &x, + const std::vector &y, + const std::vector &texts) { + return ax->text(x, y, texts); + } + + inline labels_handle text(axes_handle ax, const std::vector &x, + const std::vector &y, + std::string_view str) { + return ax->text(x, y, str); + } + + template + auto arrow(NotAxesHandle x, Args&&... args) { + return gca()->arrow(x, std::forward(args)...); + } + + template auto arrow(axes_handle ax, Args&&... args) { + return ax->arrow(std::forward(args)...); + } + + inline auto line(double x1, double y1, double x2, double y2) { + return gca()->line(x1, y1, x2, y2); + } + + inline auto line(axes_handle ax, double x1, double y1, double x2, + double y2) { + return ax->line(x1, y1, x2, y2); + } + + template + auto textarrow(NotAxesHandle x, Args&&... args) { + return gca()->textarrow(x, std::forward(args)...); + } + + template auto textarrow(axes_handle ax, Args&&... args) { + return ax->textarrow(std::forward(args)...); + } + + template + auto rectangle(NotAxesHandle x, Args&&... args) { + return gca()->rectangle(x, std::forward(args)...); + } + + template auto rectangle(axes_handle ax, Args&&... args) { + return ax->rectangle(std::forward(args)...); + } + + template + auto textbox(NotAxesHandle x, Args&&... args) { + return gca()->textbox(x, std::forward(args)...); + } + + template auto textbox(axes_handle ax, Args&&... args) { + return ax->textbox(std::forward(args)...); + } + + template + auto fill(NotAxesHandle x, Args&&... args) { + return gca()->fill(x, std::forward(args)...); + } + + template auto fill(axes_handle ax, Args&&... args) { + return ax->fill(std::forward(args)...); + } + + template + auto polygon(NotAxesHandle x, Args&&... args) { + return gca()->polygon(x, std::forward(args)...); + } + + template auto polygon(axes_handle ax, Args&&... args) { + return ax->polygon(std::forward(args)...); + } + + template + auto ellipse(NotAxesHandle x, Args&&... args) { + return gca()->ellipse(x, std::forward(args)...); + } + + template auto ellipse(axes_handle ax, Args&&... args) { + return ax->ellipse(std::forward(args)...); + } + + template + auto digraph(NotAxesHandle x, Args&&... args) { + return gca()->digraph(x, std::forward(args)...); + } + + template auto digraph(axes_handle ax, Args&&... args) { + return ax->digraph(std::forward(args)...); + } + + template + auto imagesc(NotAxesHandle x, Args&&... args) { + return gca()->imagesc(x, std::forward(args)...); + } + + template auto imagesc(axes_handle ax, Args&&... args) { + return ax->imagesc(std::forward(args)...); + } + + template + auto boxplot(NotAxesHandle x, Args&&... args) { + return gca()->boxplot(x, std::forward(args)...); + } + + template auto boxplot(axes_handle ax, Args&&... args) { + return ax->boxplot(std::forward(args)...); + } + + template + auto boxchart(NotAxesHandle x, Args&&... args) { + return gca()->boxchart(x, std::forward(args)...); + } + + template auto boxchart(axes_handle ax, Args&&... args) { + return ax->boxchart(std::forward(args)...); + } + + inline void show() { return gcf()->show(); } + + inline void show(figure_handle f) { f->show(); } + + inline bool save(const std::string &filename) { + return gcf()->save(filename); + } + + inline bool save(figure_handle f, const std::string &filename, + const std::string &format) { + return f->save(filename, format); + } + + inline bool save(const std::string &filename, const std::string &format) { + return gcf()->save(filename, format); + } + + inline bool save(figure_handle f, const std::string &filename) { + return f->save(filename); + } + +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_PLOT_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/matplot.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/matplot.h new file mode 100644 index 00000000..f525a580 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/matplot.h @@ -0,0 +1,51 @@ +// +// Created by Alan Freitas on 2020-07-03. +// + +#ifndef MATPLOTPLUSPLUS_MATPLOT_H +#define MATPLOTPLUSPLUS_MATPLOT_H + +// Common / util +#include +#include +#include +#include +#include + +// Backends +#include +#include +#include +// #include // Don't include opengl by default + +// Figure and axes +#include +#include +#include + +// Axes objects +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +// Free-standing functions +#include +#include +#include +#include + +#endif // MATPLOTPLUSPLUS_MATPLOT_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/colors.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/colors.h new file mode 100644 index 00000000..1b7515c5 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/colors.h @@ -0,0 +1,242 @@ +// +// Created by Alan Freitas on 2020-07-04. +// + +#ifndef MATPLOTPLUSPLUS_COLORS_H +#define MATPLOTPLUSPLUS_COLORS_H + +#include +#include +#include +#include + +namespace matplot { + enum class color { + blue, + black, + red, + green, + yellow, + cyan, + magenta, + white, + none, + }; + + MATPLOT_EXPORTS + std::string to_string(matplot::color c); + + MATPLOT_EXPORTS + matplot::color string_to_color(std::string_view s); + + MATPLOT_EXPORTS + matplot::color char_to_color(char c); + + MATPLOT_EXPORTS + bool is_valid_color_char(char c); + + MATPLOT_EXPORTS + std::array to_array(matplot::color c); + + template std::array to_array(std::vector c) { + std::array r{0.f, 0.f, 0.f, 0.f}; + if (c.size() == 1) { + r[0] = 0.f; + r[1] = static_cast(c[0]); + r[2] = static_cast(c[0]); + r[3] = static_cast(c[0]); + } else if (c.size() == 3) { + r[0] = 0.f; + r[1] = static_cast(c[0]); + r[2] = static_cast(c[1]); + r[3] = static_cast(c[2]); + } else if (c.size() == 4) { + r[0] = static_cast(c[0]); + r[1] = static_cast(c[1]); + r[2] = static_cast(c[2]); + r[3] = static_cast(c[3]); + } + return r; + } + + MATPLOT_EXPORTS + std::array to_array(std::string_view str_color); + + MATPLOT_EXPORTS + std::string to_string(const std::array &c); + MATPLOT_EXPORTS + std::string to_string(const std::array &c); + + constexpr std::array default_color(size_t index) { + constexpr size_t num_default_colors = 7; + size_t color_index = index % num_default_colors; + switch (color_index) { + case 0: + return {0, 0, 0.447f, 0.741f}; + case 1: + return {0, 0.85f, 0.325f, 0.098f}; + case 2: + return {0, 0.929f, 0.694f, 0.125f}; + case 3: + return {0, 0.494f, 0.184f, 0.556f}; + case 4: + return {0, 0.466f, 0.674f, 0.188f}; + case 5: + return {0, 0.301f, 0.745f, 0.933f}; + case 6: + return {0, 0.635f, 0.078f, 0.184f}; + default: + return {}; + } + } + + namespace palette { + /* + * \see + * - https://doi.org/10.1179%2Fcaj.1996.33.2.79 + * - https://bids.github.io/colormap/ + * - https://dx.doi.org/10.1371/journal.pone.0199239 + * - https://dx.doi.org/10.5670/oceanog.2016.66 + * - https://dx.doi.org/10.1071/aseg2015ab107 + * - https://zenodo.org/record/4153113 + */ + MATPLOT_EXPORTS + std::vector> accent(size_t n = 8); + MATPLOT_EXPORTS + std::vector> blues(size_t n = 8); + MATPLOT_EXPORTS + std::vector> brbg(size_t n = 8); + MATPLOT_EXPORTS + std::vector> bugn(size_t n = 8); + MATPLOT_EXPORTS + std::vector> bupu(size_t n = 8); + MATPLOT_EXPORTS + std::vector> chromajs(size_t n = 9); + MATPLOT_EXPORTS + std::vector> dark2(size_t n = 8); + MATPLOT_EXPORTS + std::vector> gnbu(size_t n = 8); + MATPLOT_EXPORTS + std::vector> gnpu(size_t n = 10); + MATPLOT_EXPORTS + std::vector> greens(size_t n = 8); + MATPLOT_EXPORTS + std::vector> greys(size_t n = 8); + MATPLOT_EXPORTS + std::vector> inferno(size_t n = 256); + MATPLOT_EXPORTS + std::vector> jet(size_t n = 64); + MATPLOT_EXPORTS + std::vector> turbo(size_t n = 256); + MATPLOT_EXPORTS + std::vector> magma(size_t n = 256); + MATPLOT_EXPORTS + std::vector> oranges(size_t n = 8); + MATPLOT_EXPORTS + std::vector> orrd(size_t n = 8); + MATPLOT_EXPORTS + std::vector> paired(size_t n = 8); + MATPLOT_EXPORTS + std::vector> parula(size_t n = 64); + MATPLOT_EXPORTS + std::vector> pastel1(size_t n = 8); + MATPLOT_EXPORTS + std::vector> pastel2(size_t n = 8); + MATPLOT_EXPORTS + std::vector> piyg(size_t n = 8); + MATPLOT_EXPORTS + std::vector> plasma(size_t n = 256); + MATPLOT_EXPORTS + std::vector> prgn(size_t n = 8); + MATPLOT_EXPORTS + std::vector> pubu(size_t n = 8); + MATPLOT_EXPORTS + std::vector> pubugn(size_t n = 8); + MATPLOT_EXPORTS + std::vector> puor(size_t n = 8); + MATPLOT_EXPORTS + std::vector> purd(size_t n = 8); + MATPLOT_EXPORTS + std::vector> purples(size_t n = 8); + MATPLOT_EXPORTS + std::vector> rdbu(size_t n = 8); + MATPLOT_EXPORTS + std::vector> rdgy(size_t n = 8); + MATPLOT_EXPORTS + std::vector> rdpu(size_t n = 8); + MATPLOT_EXPORTS + std::vector> rdylbu(size_t n = 8); + MATPLOT_EXPORTS + std::vector> rdylgn(size_t n = 8); + MATPLOT_EXPORTS + std::vector> reds(size_t n = 8); + MATPLOT_EXPORTS + std::vector> sand(size_t n = 10); + MATPLOT_EXPORTS + std::vector> set1(size_t n = 8); + MATPLOT_EXPORTS + std::vector> set2(size_t n = 8); + MATPLOT_EXPORTS + std::vector> set3(size_t n = 8); + MATPLOT_EXPORTS + std::vector> spectral(size_t n = 8); + MATPLOT_EXPORTS + std::vector> viridis(size_t n = 256); + MATPLOT_EXPORTS + std::vector> whylrd(size_t n = 5); + MATPLOT_EXPORTS + std::vector> ylgn(size_t n = 8); + MATPLOT_EXPORTS + std::vector> ylgnbu(size_t n = 8); + MATPLOT_EXPORTS + std::vector> ylorbr(size_t n = 8); + MATPLOT_EXPORTS + std::vector> ylorrd(size_t n = 8); + MATPLOT_EXPORTS + std::vector> ylrd(size_t n = 4); + MATPLOT_EXPORTS + std::vector> hsv(size_t n = 64); + MATPLOT_EXPORTS + std::vector> hot(size_t n = 64); + MATPLOT_EXPORTS + std::vector> cool(size_t n = 64); + MATPLOT_EXPORTS + std::vector> spring(size_t n = 64); + MATPLOT_EXPORTS + std::vector> summer(size_t n = 64); + MATPLOT_EXPORTS + std::vector> autumn(size_t n = 64); + MATPLOT_EXPORTS + std::vector> winter(size_t n = 64); + MATPLOT_EXPORTS + std::vector> gray(size_t n = 64); + MATPLOT_EXPORTS + std::vector> bone(size_t n = 64); + MATPLOT_EXPORTS + std::vector> copper(size_t n = 64); + MATPLOT_EXPORTS + std::vector> pink(size_t n = 64); + MATPLOT_EXPORTS + std::vector> lines(size_t n = 64); + MATPLOT_EXPORTS + std::vector> colorcube(size_t n = 64); + MATPLOT_EXPORTS + std::vector> prism(size_t n = 64); + MATPLOT_EXPORTS + std::vector> flag(size_t n = 64); + MATPLOT_EXPORTS + std::vector> white(size_t n = 64); + MATPLOT_EXPORTS + std::vector> default_map(size_t n = 64); + MATPLOT_EXPORTS + std::vector> default_colors_map(size_t n = 7); + } // namespace palette + + MATPLOT_EXPORTS + std::array + colormap_interpolation(double value, double min, double max, + const std::vector> &cm); + +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_COLORS_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/common.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/common.h new file mode 100644 index 00000000..fd762a4a --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/common.h @@ -0,0 +1,679 @@ +// +// Created by Alan Freitas on 2020-07-03. +// + +#ifndef MATPLOTPLUSPLUS_COMMON_H +#define MATPLOTPLUSPLUS_COMMON_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace matplot { + MATPLOT_EXPORTS + bool iequals(std::string_view str1, std::string_view str2); + MATPLOT_EXPORTS + bool is_true(std::string_view str); + MATPLOT_EXPORTS + bool is_false(std::string_view str); + MATPLOT_EXPORTS + std::string run_and_get_output(const std::string &command); + MATPLOT_EXPORTS + std::string escape(std::string_view label); + + inline void ltrim(std::string &s) { + s.erase(s.begin(), std::find_if(s.begin(), s.end(), [](int ch) { + return !std::isspace(ch); + })); + } + + inline void rtrim(std::string &s) { + s.erase(std::find_if(s.rbegin(), s.rend(), + [](int ch) { return !std::isspace(ch); }) + .base(), + s.end()); + } + + inline void rtrim(std::string &s, char d) { + s.erase( + std::find_if(s.rbegin(), s.rend(), [d](int ch) { return ch != d; }) + .base(), + s.end()); + } + + template std::string num2str(Arithmetic num) { + std::ostringstream ss; + ss.precision(10); + ss << std::fixed; + ss << num; + return ss.str(); + } + + template + std::string num2str(Arithmetic num, const std::string &format) { + constexpr int max_buffer_size = 100; + char buffer[max_buffer_size]; + int cx = snprintf(buffer, max_buffer_size, format.c_str(), num); + if (cx >= 0 && cx < max_buffer_size) { + return std::string(buffer); + } else { + return num2str(num); + } + } + + template T str2num(std::string_view text) { + std::istringstream ss((std::string(text))); + T result; + return ss >> result ? result : 0; + } + + using vector_1d = std::vector; + + using vector_2d = std::vector; + + MATPLOT_EXPORTS + std::vector linspace(double lower_bound, double upper_bound); + + MATPLOT_EXPORTS + std::vector linspace(double lower_bound, double upper_bound, + size_t n); + + MATPLOT_EXPORTS + std::vector logspace(double lower_bound, double upper_bound); + + MATPLOT_EXPORTS + std::vector logspace(double lower_bound, double upper_bound, + size_t n); + + MATPLOT_EXPORTS + std::vector iota(double lower_bound, double upper_bound); + + MATPLOT_EXPORTS + std::vector iota(double lower_bound, double step, + double upper_bound); + + MATPLOT_EXPORTS + vector_1d transform(const vector_1d &x, std::function fn); + MATPLOT_EXPORTS + vector_1d transform(const vector_1d &x, const vector_1d &y, + std::function fn); + MATPLOT_EXPORTS + vector_2d transform(const vector_2d &x, std::function fn); + MATPLOT_EXPORTS + vector_2d transform(const vector_2d &x, const vector_2d &y, + std::function fn); + + MATPLOT_EXPORTS + vector_1d flatten(const vector_2d &x); + + MATPLOT_EXPORTS + std::vector unique(const std::vector &x); + + MATPLOT_EXPORTS + double min(const std::vector &x); + MATPLOT_EXPORTS + double min(const std::vector> &x); + MATPLOT_EXPORTS + double max(const std::vector &x); + MATPLOT_EXPORTS + double max(const std::vector> &x); + MATPLOT_EXPORTS + std::pair minmax(const std::vector &x); + + template T min(T val1, T val2) { + return val1 < val2 ? val1 : val2; + } + + template T min(T val1, T val2, Ts &&...vs) { + return val1 < val2 ? min(val1, std::forward(vs)...) + : min(val2, std::forward(vs)...); + } + + template T max(T val1, T val2) { + return val1 > val2 ? val1 : val2; + } + + template T max(T val1, T val2, Ts &&...vs) { + return val1 > val2 ? max(val1, std::forward(vs)...) + : max(val2, std::forward(vs)...); + } + + MATPLOT_EXPORTS + double mean(const std::vector &x); + MATPLOT_EXPORTS + double stddev(const std::vector &x); + + MATPLOT_EXPORTS + void wait(); + + constexpr double pi = + 3.141592653589793238462643383279502884197169399375105820974944592307816406286; + constexpr double NaN = std::numeric_limits::quiet_NaN(); + + template std::vector vectorize(const std::vector &result) { + return result; + } + + template std::vector vectorize(const T &result) { + return std::vector({result}); + } + + template + inline std::array to_array(std::initializer_list il) { + std::array r{}; + auto r_it = r.begin(); + auto il_it = il.begin(); + while (r_it != r.end() && il_it != il.end()) { + *r_it = *il_it; + ++r_it; + ++il_it; + } + return r; + } + + template + inline std::array to_array(const std::vector &v) { + std::array r{}; + auto r_it = r.begin(); + auto v_it = v.begin(); + while (r_it != r.end() && v_it != v.end()) { + *r_it = *v_it; + ++r_it; + ++v_it; + } + return r; + } + + namespace detail { + template + using forward_or_copy = + std::conditional_t, const U &, U>; + } + + template + detail::forward_or_copy to_vector_1d(const T &v) { + if constexpr (std::is_same_v) { + return v; + } else { + using std::begin, std::end; + vector_1d r(v.size()); + std::transform(v.begin(), v.end(), r.begin(), [](const auto &x) { + return static_cast(x); + }); + return r; + } + } + + template + detail::forward_or_copy to_vector_2d(const T &v) { + if constexpr (std::is_same_v) { + return v; + } else { + using std::begin, std::end; + + vector_2d r(std::distance(begin(v), end(v))); + std::transform( + begin(v), end(v), r.begin(), + [](auto &&e) -> vector_1d { return to_vector_1d(e); }); + return r; + } + } + + template + detail::forward_or_copy> + to_vector_3d(const T &v) { + if constexpr (std::is_same_v>) { + return v; + } else { + using std::begin, std::end; + + std::vector r(std::distance(begin(v), end(v))); + std::transform( + begin(v), end(v), r.begin(), + [](auto &&e) -> vector_2d { return to_vector_2d(e); }); + return r; + } + } + + template inline T norm(const std::vector &v) { + T sum = 0.; + for (const auto &vk : v) { + sum += pow(vk, 2.); + } + return sqrt(sum); + } + + MATPLOT_EXPORTS + double randn(double mean, double stddev); + MATPLOT_EXPORTS + std::vector randn(size_t n, double mean, double stddev); + + /// Exponential distribution + MATPLOT_EXPORTS + double rande(double lambda, double multiplier = 1.0); + MATPLOT_EXPORTS + std::vector rande(size_t n, double lambda, double multiplier = 1.0); + + /// Pareto distribution + MATPLOT_EXPORTS + double randp(double scale, double shape = 1.0); + MATPLOT_EXPORTS + std::vector randp(size_t n, double scale, double shape = 1.0); + + MATPLOT_EXPORTS + int randi(int imin, int imax); + MATPLOT_EXPORTS + std::vector randi(size_t n, int imin, int imax); + + MATPLOT_EXPORTS + double rand(double lower_bound, double upper_bound); + MATPLOT_EXPORTS + vector_1d rand(size_t n, double lower_bound, double upper_bound); + MATPLOT_EXPORTS + vector_2d rand(size_t rows, size_t cols, double lower_bound, + double upper_bound); + + MATPLOT_EXPORTS + std::vector reshape(const std::vector> &X); + + MATPLOT_EXPORTS + std::vector concat(const std::vector &a, + const std::vector &b); + + template + std::vector concat(const std::vector &a, + const std::vector &b, Args &&...args) { + std::vector r = concat(a, b); + return concat(r, std::forward(args)...); + } + + MATPLOT_EXPORTS + double truncate(double x, double lower_bound, double upper_bound); + + template + void reorder_parameter_pack_in_tuple(TUPLE &t, Arg1 x) { + std::get(t) = x; + } + + template + void reorder_parameter_pack_in_tuple(TUPLE &t, Arg1 x, Args &&...args) { + std::get(t) = x; + reorder_parameter_pack_in_tuple(t, std::forward(args)...); + } + + MATPLOT_EXPORTS + std::string fileread(const std::string &filename); + + template > + void rank_elements(T first, T last, T2 rank_input, + FN comp = std::less()) { + using value_and_rank = + std::pair const *, + size_t>; + std::vector v; + size_t r = 0; + while (first != last) { + v.emplace_back(&(*first), r); + ++first; + ++r; + } + std::sort(v.begin(), v.end(), [comp](const auto &a, const auto &b) { + return comp(*a.first, *b.first); + }); + for (const auto &[ptr, ranking] : v) { + (void)ptr; + *rank_input = ranking; + ++rank_input; + } + } + + /// Cosine of argument in degreescollapse + MATPLOT_EXPORTS + double cosd(double degrees); + + /// Sine of argument in degreescollapse + MATPLOT_EXPORTS + double sind(double degrees); + + /// Sine of argument in degreescollapse + MATPLOT_EXPORTS + std::vector deg2rad(const std::vector °rees); + + MATPLOT_EXPORTS + double deg2rad(double rho); + + /// Round up the maximum polar value + MATPLOT_EXPORTS + double round_polar_max(double polar_max); + + MATPLOT_EXPORTS + double to_positive_radian(double radian); + + /// Calculate the radians rho of a vector (u,v) + MATPLOT_EXPORTS + double vector_radians(double u, double v); + + /// Calculate the magnitude theta of a vector (u,v) + MATPLOT_EXPORTS + double vector_magnitude(double u, double v); + + /// Calculate the radians rho of a complex number u + iv + MATPLOT_EXPORTS + double vector_radians(std::complex v); + + /// Calculate the magnitude theta of a complex number u + iv + MATPLOT_EXPORTS + double vector_magnitude(std::complex v); + + /// Calculate cartesian coordinates of vector in polar coordinates + MATPLOT_EXPORTS + std::pair pol2cart(double theta, double rho); + MATPLOT_EXPORTS + std::pair pol2cart(vector_1d theta, vector_1d rho); + MATPLOT_EXPORTS + std::pair pol2cart(vector_1d theta, double rho); + + MATPLOT_EXPORTS + std::pair elliptic2cart(double theta, double rho_w, + double rho_h); + MATPLOT_EXPORTS + std::pair elliptic2cart(vector_1d theta, double rho_w, + double rho_h); + MATPLOT_EXPORTS + std::pair + elliptic2cart(vector_1d theta, vector_1d rho_w, vector_1d rho_h); + + MATPLOT_EXPORTS + std::pair meshgrid(const vector_1d &x, + const vector_1d &y); + MATPLOT_EXPORTS + std::pair meshgrid(const vector_1d &x_and_y); + + MATPLOT_EXPORTS + vector_1d gradient(const vector_1d &z, double spacing = 1.0); + MATPLOT_EXPORTS + std::pair gradient(const vector_2d &z, + double spacing = 1.0); + MATPLOT_EXPORTS + std::pair + gradient(const vector_2d &z, double spacing_x, double spacing_y); + + MATPLOT_EXPORTS + double peaks(double x, double y); + MATPLOT_EXPORTS + vector_2d peaks(const vector_2d &X, const vector_2d &Y); + MATPLOT_EXPORTS + std::tuple peaks(size_t N = 49); + + template struct pair_hash { + std::size_t operator()(const std::pair &p) const { + std::size_t h1 = std::hash()(p.first); + std::size_t h2 = std::hash()(p.second); + return h1 ^ h2; + } + }; + + template std::pair size(const std::vector &v) { + if (v.empty()) { + return std::make_pair(0, 0); + } else { + return std::make_pair(v.size(), v[0].size()); + } + } + + MATPLOT_EXPORTS + vector_2d zeros(size_t rows, size_t cols); + MATPLOT_EXPORTS + vector_2d ones(size_t rows, size_t cols); + + using image_row_t = std::vector; + using image_channel_t = std::vector; + // The image might have 1 channel (B&W), 3 channels (RGB), or 4 channels + // (RGBA) + using image_channels_t = std::vector; + + /// Core imread function + /// Return grayscale image (vector::size() == 1), + /// rgb image (vector::size() == 3), + /// rgba image (vector::size() == 4), + /// empty image (vector::size() == 0) + MATPLOT_EXPORTS + image_channels_t imread(const std::string &filename); + + enum class image_interpolation { + raw, + additional_space, + nearest, + moving_average, + bilinear, + grid, + bicubic, + lanczos + }; + + MATPLOT_EXPORTS + image_channel_t rgb2gray(const image_channels_t &A); + MATPLOT_EXPORTS + image_channels_t gray2rgb(const image_channel_t &A, + const std::vector> &colormap); + MATPLOT_EXPORTS + image_channels_t gray2rgb(const image_channel_t &A); + MATPLOT_EXPORTS + image_channels_t gray2rgb(const image_channels_t &A, + const std::vector> &colormap); + MATPLOT_EXPORTS + image_channels_t gray2rgb(const image_channels_t &A); + + MATPLOT_EXPORTS + image_channels_t + imresize(const image_channels_t &A, double scale, + image_interpolation m = image_interpolation::bicubic); + + MATPLOT_EXPORTS + image_channels_t + imresize(const image_channels_t &A, size_t height, size_t width, + image_interpolation m = image_interpolation::bicubic); + + MATPLOT_EXPORTS + void imwrite(const image_channels_t &A, const std::string &filename); + + MATPLOT_EXPORTS + void imwrite(const image_channel_t &A, + const std::vector> &colormap, + const std::string &filename); + + MATPLOT_EXPORTS + void imwrite(const image_channels_t &A, const std::string &filename); + + MATPLOT_EXPORTS + image_channels_t imvignette(const image_channels_t &A, + double min_radius = 1., double exponent = 0.5); + + template std::vector> eye(size_t n) { + std::vector> r(n, std::vector(n, static_cast(0))); + for (size_t i = 0; i < n; ++i) { + r[i][i] = 1.; + } + return r; + } + + MATPLOT_EXPORTS + vector_2d transpose(const vector_2d &z); + + MATPLOT_EXPORTS + std::vector + tokenize(std::string_view text, + std::string_view delimiters = " ',\n\r\t\".!?:"); + + MATPLOT_EXPORTS + std::pair, std::vector> + wordcount(const std::vector &tokens, + const std::vector &black_list, + size_t max_cloud_size = 100); + + MATPLOT_EXPORTS + std::pair, std::vector> + wordcount(std::string_view text, const std::vector &black_list, + std::string_view delimiters = " ',\n\r\t\".!?:;", + size_t max_cloud_size = 100); + + // Distance from x to the next larger floating point number + template + std::enable_if_t || + std::is_same_v || + std::is_same_v, + FLOAT> + eps(FLOAT x = 1.) { + constexpr long double max_long_double = + std::numeric_limits::max(); + // std::nexttoward is more precise than std::nextafter + if constexpr (std::is_same_v) { + return std::nexttoward(x, max_long_double) - x; + } else if constexpr (std::is_same_v) { + return std::nexttowardf(x, max_long_double) - x; + } else if constexpr (std::is_same_v) { + return std::nexttowardl(x, max_long_double) - x; + } else { + throw std::logic_error( + "eps: FLOAT type needs to be float, double or long double"); + } + } + + template + std::vector repmat(const std::vector &a, size_t n) { + std::vector b(a.size() * n); + for (size_t i = 0; i < n; ++i) { + for (size_t j = 0; j < a.size(); ++j) { + b[i * a.size() + j] = a[j]; + } + } + return b; + } + + struct ticks_results { + std::vector ticks; + std::vector tickLabels; + std::string scaleStr; + std::vector minorTicks; + std::vector overhang; + }; + + /// \brief Find ticks at "nice" intervals for an axis + /// For now, we only use our own ticks when we need to take control + /// over the gnuplot ticks. Sometimes the gnuplot ticks does not + /// give us the behaviour we expect. For instance, this is the case + /// when plotting parallel coordinates. + /// We could easily adapt class axis to always use this function + /// instead of the automatic gnuplot ticks but there's no need + /// for that at the moment. + /// The algorithm in this function is inspired by this matplot script: + /// https://www.mathworks.com/matlabcentral/fileexchange/30671-calcticks + /// We don't implement the version for log scale because, by coincidence, + /// the library does not need it at this point. + /// \param limits_min Minimum value + /// \param limits_max Maximum value + /// \param horizontal True if axis is horizontal (this changes the room for + /// labels) \param text_size Size in height or width of a char \param log + /// True if scale is logarithmic (this will throw an error for now) \return + /// Nice ticks and their labels in a ticks_results struct \see + /// https://www.mathworks.com/matlabcentral/fileexchange/30671-calcticks + MATPLOT_EXPORTS + ticks_results calcticks(double limits_min = -5, double limits_max = +5, + bool horizontal = false, double text_size = 1.25, + bool separateExp = true, bool log = false); + + MATPLOT_EXPORTS + double distance(double x1, double y1, double x2, double y2); + + /// \brief Simple read-only 2d view for vector_2d. + /// It could iterates over all vector's elements and get value using + /// only one index (offset). + class MATPLOT_EXPORTS vector_2d_view { + using vector_2d = matplot::vector_2d; + const vector_2d &_vec; + const std::size_t _sz; + + /// \brief Helper method for determining the whole array size. + /// Required for caching inner vector's size. + std::size_t calculate_size(const vector_2d &vec) { + return std::accumulate(vec.begin(), vec.end(), (std::size_t)(0), + [](auto cnt, const auto &inner_vec) { + return cnt + inner_vec.size(); + }); + } + + public: + static const double &get_element_from_offset(const vector_2d &vec, + std::size_t offset) { + std::size_t row_size = vec[0].size(); + std::size_t cur_row = offset / row_size; + std::size_t cur_column = offset % row_size; + return vec[cur_row][cur_column]; + } + + static vector_2d_view from_vector_2d(const vector_2d &vec) { + return vector_2d_view(vec); + } + std::size_t size() const { return _sz; } + vector_2d_view(const vector_2d &vec) + : _vec(vec), _sz(calculate_size(vec)) {} + + double operator()(std::size_t i, std::size_t j) { + return _vec.at(i).at(j); + } + friend class iterator; + + class iterator { + vector_2d_view *const _vec; + std::size_t _row_offset; + std::size_t _col_offset; + + static bool is_empty_iterator(const iterator &it) { + return it._vec == nullptr; + } + static bool is_end_iterator(const iterator &it) { + return is_empty_iterator(it) || + it._row_offset * it._col_offset >= it._vec->size(); + } + + public: + iterator(vector_2d_view *const vec) + : _vec(vec), _row_offset(0), _col_offset(0) {} + + bool operator==(const iterator &it) const { + return is_end_iterator(it) + ? is_end_iterator(*this) + : it._vec == _vec && it._row_offset == _row_offset && + it._col_offset == _col_offset; + } + + auto operator*() const { return (*_vec)(_row_offset, _col_offset); } + + iterator &operator++() { + _col_offset++; + if (_col_offset >= _vec->_vec.at(_row_offset).size()) { + _col_offset = 0; + _row_offset++; + } + return *this; + } + + // iterator traits + using value_type = double; + }; + iterator begin() { return iterator{this}; } + iterator end() { return iterator{nullptr}; } + }; + +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_COMMON_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/concepts.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/concepts.h new file mode 100644 index 00000000..b0659375 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/concepts.h @@ -0,0 +1,134 @@ +// +// Created by Alan Freitas on 2020-07-03. +// + +#ifndef MATPLOTPLUSPLUS_CONCEPTS_H +#define MATPLOTPLUSPLUS_CONCEPTS_H + +#include +#include +#include + +namespace matplot { + // https://github.com/Neargye/yacppl/blob/master/include/concepts.hpp + // Fallback to type T if Enable is not void + template using type_concept = T; + + // type_concept where Enable is void if C is false + template + using TypeConcept = type_concept>; + + // TypeConcept where C is true only if T is RValue + template + using RValue = TypeConcept< + T, std::is_rvalue_reference::value && + !std::is_const::type>::value> + &&; + + // TypeConcept where C is true only if T is Const + template + using Const = TypeConcept< + T, std::is_const::type>::value>; + + // TypeConcept where C is true only if T is NotConst + template + using NotConst = TypeConcept< + T, !std::is_const::type>::value>; + + // TypeConcept where C is true only if T is Arithmetic + template + using Arithmetic = TypeConcept< + T, std::is_arithmetic::type>::value>; + + // TypeConcept where C is true only if T is Integral + template + using Integral = TypeConcept< + T, std::is_integral::type>::value>; + + // TypeConcept where C is true only if T is Pointer + template + using Pointer = TypeConcept< + T, std::is_pointer::type>::value>; + + // TypeConcept where C is true only if T is Trivial + template + using Trivial = TypeConcept< + T, std::is_trivial::type>::value>; + + // TypeConcept where C is true only if T is TriviallyCopyable + template + using TriviallyCopyable = + TypeConcept::type>::value>; + + // TypeConcept where C is true only if T is String + template + using String = TypeConcept, std::string>>; + + // TypeConcept where C is true only if T is NotString + template + using NotString = + TypeConcept, std::string>>; + + // TypeConcept where C is true only if T is NotString + template + using NotStringConvertible = + TypeConcept, std::string>>; + + class figure_type; + // TypeConcept where C is true only if T is FigureHandle + template + using FigureHandle = TypeConcept< + T, std::is_same_v, std::shared_ptr>>; + + // TypeConcept where C is true only if T is NotFigureHandle + template + using NotFigureHandle = + TypeConcept, + std::shared_ptr>>; + + // TypeConcept where C is true only if T is Iterable + template + using Iterable = TypeConcept>>; + + // TypeConcept where C is true only if T is IterableValues + template + using IterableValues = TypeConcept>>; + + // TypeConcept where C is true only if T is IterablePair + template + using IterablePairs = TypeConcept>>; + + // TypeConcept where C is true only if T is IterableIterables + template + using IterableIterables = + TypeConcept>>; + + // TypeConcept where C is true only if T is IterableValues + template + using NotAxesHandle = + TypeConcept, axes_handle>>; + + // TypeConcept where C is true only if T is an initializer list + template + using InitializerList = TypeConcept::value>; + + // TypeConcept where C is true only if T is not an initializer list + template + using NotInitializerList = TypeConcept::value>; + + // TypeConcept where C is true only if T is a vector + template using Vector = TypeConcept::value>; + + // TypeConcept where C is true only if T is not a vector + template using NotVector = TypeConcept::value>; + + // TypeConcept where C is true only if T is a pair + template using Pair = TypeConcept::value>; + + // TypeConcept where C is true only if T is not a pair + template using NotPair = TypeConcept::value>; + +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_CONCEPTS_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/contourc.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/contourc.h new file mode 100644 index 00000000..5d660d97 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/contourc.h @@ -0,0 +1,622 @@ +// +// Adapted from +// https://github.com/matplotlib/matplotlib/blob/master/src/_contour.h +// and +// https://github.com/matplotlib/matplotlib/blob/master/lib/matplotlib/contour.py +// + +#ifndef MATPLOTPLUSPLUS_CONTOURC_H +#define MATPLOTPLUSPLUS_CONTOURC_H + +/* + * QuadContourGenerator + * -------------------- + * A QuadContourGenerator generates contours for scalar fields defined on + * quadrilateral grids. A single QuadContourGenerator object can create both + * line contours (at single levels) and filled contours (between pairs of + * levels) for the same field. + * + * A field to be contoured has nx, ny points in the x- and y-directions + * respectively. The quad grid is defined by x and y arrays of shape(ny, nx), + * and the field itself is the z array also of shape(ny, nx). There is an + * optional boolean mask; if it exists then it also has shape(ny, nx). The + * mask applies to grid points rather than quads. + * + * How quads are masked based on the point mask is determined by the boolean + * 'corner_mask' flag. If false then any quad that has one or more of its four + * corner points masked is itself masked. If true the behaviour is the same + * except that any quad which has exactly one of its four corner points masked + * has only the triangular corner (half of the quad) adjacent to that point + * masked; the opposite triangular corner has three unmasked points and is not + * masked. + * + * By default the entire domain of nx*ny points is contoured together which can + * result in some very long polygons. The alternative is to break up the + * domain into subdomains or 'chunks' of smaller size, each of which is + * independently contoured. The size of these chunks is controlled by the + * 'nchunk' (or 'chunk_size') parameter. Chunking not only results in shorter + * polygons but also requires slightly less RAM. It can result in rendering + * artifacts though, depending on backend, antialiased flag and alpha value. + * + * Notation + * -------- + * i and j are array indices in the x- and y-directions respectively. Although + * a single element of an array z can be accessed using z[j][i] or z(j,i), it + * is often convenient to use the single quad index z[quad], where + * quad = i + j*nx + * and hence + * i = quad % nx + * j = quad / nx + * + * Rather than referring to x- and y-directions, compass directions are used + * instead such that W, E, S, N refer to the -x, +x, -y, +y directions + * respectively. To move one quad to the E you would therefore add 1 to the + * quad index, to move one quad to the N you would add nx to the quad index. + * + * Cache + * ----- + * Lots of information that is reused during contouring is stored as single + * bits in a mesh-sized cache, indexed by quad. Each quad's cache entry stores + * information about the quad itself such as if it is masked, and about the + * point at the SW corner of the quad, and about the W and S edges. Hence + * information about each point and each edge is only stored once in the cache. + * + * Cache information is divided into two types: that which is constant over the + * lifetime of the QuadContourGenerator, and that which changes for each + * contouring operation. The former is all grid-specific information such + * as quad and corner masks, and which edges are boundaries, either between + * masked and non-masked regions or between adjacent chunks. The latter + * includes whether points lie above or below the current contour levels, plus + * some flags to indicate how the contouring is progressing. + * + * Line Contours + * ------------- + * A line contour connects points with the same z-value. Each point of such a + * contour occurs on an edge of the grid, at a point linearly interpolated to + * the contour z-level from the z-values at the end points of the edge. The + * direction of a line contour is such that higher values are to the left of + * the contour, so any edge that the contour passes through will have a left- + * hand end point with z > contour level and a right-hand end point with + * z <= contour level. + * + * Line contours are of two types. Firstly there are open line strips that + * start on a boundary, traverse the interior of the domain and end on a + * boundary. Secondly there are closed line loops that occur completely within + * the interior of the domain and do not touch a boundary. + * + * The QuadContourGenerator makes two sweeps through the grid to generate line + * contours for a particular level. In the first sweep it looks only for start + * points that occur on boundaries, and when it finds one it follows the + * contour through the interior until it finishes on another boundary edge. + * Each quad that is visited by the algorithm has a 'visited' flag set in the + * cache to indicate that the quad does not need to be visited again. In the + * second sweep all non-visited quads are checked to see if they contain part + * of an interior closed loop, and again each time one is found it is followed + * through the domain interior until it returns back to its start quad and is + * therefore completed. + * + * The situation is complicated by saddle quads that have two opposite corners + * with z >= contour level and the other two corners with z < contour level. + * These therefore contain two segments of a line contour, and the visited + * flags take account of this by only being set on the second visit. On the + * first visit a number of saddle flags are set in the cache to indicate which + * one of the two segments has been completed so far. + * + * Filled Contours + * --------------- + * Filled contours are produced between two contour levels and are always + * closed polygons. They can occur completely within the interior of the + * domain without touching a boundary, following either the lower or upper + * contour levels. Those on the lower level are exactly like interior line + * contours with higher values on the left. Those on the upper level are + * reversed such that higher values are on the right. + * + * Filled contours can also involve a boundary in which case they consist of + * one or more sections along a boundary and one or more sections through the + * interior. Interior sections can be on either level, and again those on the + * upper level have higher values on the right. Boundary sections can remain + * on either contour level or switch between the two. + * + * Once the start of a filled contour is found, the algorithm is similar to + * that for line contours in that it follows the contour to its end, which + * because filled contours are always closed polygons will be by returning + * back to the start. However, because two levels must be considered, each + * level has its own set of saddle and visited flags and indeed some extra + * visited flags for boundary edges. + * + * The major complication for filled contours is that some polygons can be + * holes (with points ordered clockwise) within other polygons (with points + * ordered anticlockwise). When it comes to rendering filled contours each + * non-hole polygon must be rendered along with its zero or more contained + * holes or the rendering will not be correct. The filled contour finding + * algorithm could progress pretty much as the line contour algorithm does, + * taking each polygon as it is found, but then at the end there would have to + * be an extra step to identify the parent non-hole polygon for each hole. + * This is not a particularly onerous task but it does not scale well and can + * easily dominate the execution time of the contour finding for even modest + * problems. It is much better to identity each hole's parent non-hole during + * the sweep algorithm. + * + * This requirement dictates the order that filled contours are identified. As + * the algorithm sweeps up through the grid, every time a polygon passes + * through a quad a ParentCache object is updated with the new possible parent. + * When a new hole polygon is started, the ParentCache is used to find the + * first possible parent in the same quad or to the S of it. Great care is + * needed each time a new quad is checked to see if a new polygon should be + * started, as a single quad can have multiple polygon starts, e.g. a quad + * could be a saddle quad for both lower and upper contour levels, meaning it + * has four contour line segments passing through it which could all be from + * different polygons. The S-most polygon must be started first, then the next + * S-most and so on until the N-most polygon is started in that quad. + */ + +// #include "numpy_cpp.h" +// https://github.com/matplotlib/matplotlib/blob/master/src/numpy_cpp.h +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace matplot { + + // Edge of a quad including diagonal edges of masked quads if _corner_mask + // true. + enum class Edge { + // Listing values here so easier to check for debug purposes. + Edge_None = -1, + Edge_E = 0, + Edge_N = 1, + Edge_W = 2, + Edge_S = 3, + // The following are only used if _corner_mask is true. + Edge_NE = 4, + Edge_NW = 5, + Edge_SW = 6, + Edge_SE = 7 + }; + + // Combination of a quad and an edge of that quad. + // An invalid quad edge has quad of -1. + struct MATPLOT_EXPORTS QuadEdge { + QuadEdge(); + + QuadEdge(long quad_, Edge edge_); + + bool operator<(const QuadEdge &other) const; + + bool operator==(const QuadEdge &other) const; + + bool operator!=(const QuadEdge &other) const; + + friend std::ostream &operator<<(std::ostream &os, + const QuadEdge &quad_edge); + + long quad; + Edge edge; + }; + + // 2D point with x,y coordinates. + struct MATPLOT_EXPORTS XY { + XY(); + + XY(const double &x_, const double &y_); + + bool operator==(const XY &other) const; + + bool operator!=(const XY &other) const; + + XY operator*(const double &multiplier) const; + + const XY &operator+=(const XY &other); + + const XY &operator-=(const XY &other); + + XY operator+(const XY &other) const; + + XY operator-(const XY &other) const; + + friend std::ostream &operator<<(std::ostream &os, const XY &xy); + + double x, y; + }; + + // A single line of a contour, which may be a closed line loop or an open + // line strip. Identical adjacent points are avoided using push_back(). A + // ContourLine is either a hole (points ordered clockwise) or it is not + // (points ordered anticlockwise). Each hole has a parent ContourLine that + // is not a hole; each non-hole contains zero or more child holes. A + // non-hole and its child holes must be rendered together to obtain the + // correct results. + class MATPLOT_EXPORTS ContourLine : public std::vector { + public: + typedef std::list Children; + + ContourLine(bool is_hole); + + void add_child(ContourLine *child); + + void clear_parent(); + + const Children &get_children() const; + + const ContourLine *get_parent() const; + + ContourLine *get_parent(); + + bool is_hole() const; + + void push_back(const XY &point); + + void set_parent(ContourLine *parent); + + void write() const; + + private: + bool _is_hole; + ContourLine *_parent; // Only set if is_hole, not owned. + Children _children; // Only set if !is_hole, not owned. + }; + + // A Contour is a collection of zero or more ContourLines. + class MATPLOT_EXPORTS Contour : public std::vector { + public: + Contour(); + + virtual ~Contour(); + + void delete_contour_lines(); + + void write() const; + }; + + // Single chunk of ContourLine parents, indexed by quad. As a chunk's + // filled contours are created, the ParentCache is updated each time a + // ContourLine passes through each quad. When a new ContourLine is created, + // if it is a hole its parent ContourLine is read from the ParentCache by + // looking at the start quad, then each quad to the S in turn until a + // non-zero ContourLine is found. + class MATPLOT_EXPORTS ParentCache { + public: + ParentCache() = default; + + ParentCache(long nx, long x_chunk_points, long y_chunk_points); + + ContourLine *get_parent(long quad); + + void set_chunk_starts(long istart, long jstart); + + void set_parent(long quad, ContourLine &contour_line); + + private: + long quad_to_index(long quad) const; + + long _nx; + long _x_chunk_points, _y_chunk_points; // Number of points not quads. + std::vector _lines; // Not owned. + long _istart, _jstart; + }; + + // See overview of algorithm at top of file. + class MATPLOT_EXPORTS QuadContourGenerator { + public: + // using CoordinateArray = numpy::array_view; + using CoordinateArray = vector_2d; + // using MaskArray = numpy::array_view; + using MaskArray = std::array; + + // This constructor is just a placeholder + // This object will obviously not work + QuadContourGenerator() = default; + + // Constructor with optional mask. + // x, y, z: double arrays of shape (ny,nx). + // mask: boolean array, ether empty (if no mask), or of shape (ny,nx). + // corner_mask: flag for different masking behaviour. + // chunk_size: 0 for no chunking, or +ve integer for size of chunks + // that + // the domain is subdivided into. + // https://github.com/matplotlib/matplotlib/blob/master/lib/matplotlib/contour.py + QuadContourGenerator(const vector_2d &x, const vector_2d &y, + const vector_2d &z, bool corner_mask, + long chunk_size); + + // Create and return polygons for a line (i.e. non-filled) contour at + // the specified level. + using vertices_list_type = std::pair; + vertices_list_type create_contour(const double &level); + + // Create and return polygons for a filled contour between the two + // specified levels. + using codes_list_type = std::vector; + std::pair + create_filled_contour(const double &lower_level, + const double &upper_level); + + private: + // Typedef for following either a boundary of the domain or the + // interior; clearer than using a boolean. + enum class BoundaryOrInterior { Boundary, Interior }; + + // Typedef for direction of movement from one quad to the next. + enum class Dir { Dir_Right = -1, Dir_Straight = 0, Dir_Left = +1 }; + + // Typedef for a polygon being a hole or not; clearer than using a + // boolean. + enum class HoleOrNot { NotHole, Hole }; + + // Append a C++ ContourLine to the end of a python list. Used for line + // contours where each ContourLine is converted to a separate numpy + // array of (x,y) points. Clears the ContourLine too. + void append_contour_line_to_vertices( + ContourLine &contour_line, vertices_list_type &vertices_list) const; + + // Append a C++ Contour to the end of two python lists. Used for filled + // contours where each non-hole ContourLine and its child holes are + // represented by a numpy array of (x,y) points and a second numpy array + // of 'kinds' or 'codes' that indicates where the points array is split + // into individual polygons. Clears the Contour too, freeing each + // ContourLine as soon as possible for minimum RAM usage. + void + append_contour_to_vertices_and_codes(Contour &contour, + vertices_list_type &vertices_list, + codes_list_type &codes_list) const; + + // Return number of chunks that fit in the specified point_count. + long calc_chunk_count(long point_count) const; + + // Return the point on the specified QuadEdge that intersects the + // specified level. + XY edge_interp(const QuadEdge &quad_edge, const double &level); + + // Follow a contour along a boundary, appending points to the + // ContourLine as it progresses. Only called for filled contours. Stops + // when the contour leaves the boundary to move into the interior of the + // domain, or when the start_quad_edge is reached in which case the + // ContourLine is a completed closed loop. Always adds the end point of + // each boundary edge to the ContourLine, regardless of whether moving + // to another boundary edge or leaving the boundary into the interior. + // Never adds the start point of the first boundary edge to the + // ContourLine. + // contour_line: ContourLine to append points to. + // quad_edge: on entry the QuadEdge to start from, on exit the + // QuadEdge + // that is stopped on. + // lower_level: lower contour z-value. + // upper_level: upper contour z-value. + // level_index: level index started on (1 = lower, 2 = upper level). + // start_quad_edge: QuadEdge that the ContourLine started from, which + // is + // used to check if the ContourLine is finished. + // Returns the end level_index. + unsigned int follow_boundary(ContourLine &contour_line, + QuadEdge &quad_edge, + const double &lower_level, + const double &upper_level, + unsigned int level_index, + const QuadEdge &start_quad_edge); + + // Follow a contour across the interior of the domain, appending points + // to the ContourLine as it progresses. Called for both line and filled + // contours. Stops when the contour reaches a boundary or, if the + // start_quad_edge is specified, when quad_edge == start_quad_edge and + // level_index == start_level_index. Always adds the end point of each + // quad traversed to the ContourLine; only adds the start point of the + // first quad if want_initial_point flag is true. + // contour_line: ContourLine to append points to. + // quad_edge: on entry the QuadEdge to start from, on exit the + // QuadEdge + // that is stopped on. + // level_index: level index started on (1 = lower, 2 = upper level). + // level: contour z-value. + // want_initial_point: whether want to append the initial point to the + // ContourLine or not. + // start_quad_edge: the QuadEdge that the ContourLine started from to + // check if the ContourLine is finished, or 0 if no check should + // occur. + // start_level_index: the level_index that the ContourLine started + // from. set_parents: whether should set ParentCache as it progresses + // or not. + // This is true for filled contours, false for line contours. + void follow_interior(ContourLine &contour_line, QuadEdge &quad_edge, + unsigned int level_index, const double &level, + bool want_initial_point, + const QuadEdge *start_quad_edge, + unsigned int start_level_index, bool set_parents); + + // Return the index limits of a particular chunk. + void get_chunk_limits(long ijchunk, long &ichunk, long &jchunk, + long &istart, long &iend, long &jstart, + long &jend); + + // Check if a contour starts within the specified corner quad on the + // specified level_index, and if so return the start edge. Otherwise + // return Edge_None. + Edge get_corner_start_edge(long quad, unsigned int level_index) const; + + // Return index of point at start or end of specified QuadEdge, assuming + // anticlockwise ordering around non-masked quads. + long get_edge_point_index(const QuadEdge &quad_edge, bool start) const; + + // Return the edge to exit a quad from, given the specified entry + // quad_edge and direction to move in. + Edge get_exit_edge(const QuadEdge &quad_edge, Dir dir) const; + + // Return the (x,y) coordinates of the specified point index. + XY get_point_xy(long point) const; + + // Return the z-value of the specified point index. + const double &get_point_z(long point) const; + + // Check if a contour starts within the specified non-corner quad on the + // specified level_index, and if so return the start edge. Otherwise + // return Edge_None. + Edge get_quad_start_edge(long quad, unsigned int level_index) const; + + // Check if a contour starts within the specified quad, whether it is a + // corner or a full quad, and if so return the start edge. Otherwise + // return Edge_None. + Edge get_start_edge(long quad, unsigned int level_index) const; + + // Initialise the cache to contain grid information that is constant + // across the lifetime of this object, i.e. does not vary between calls + // to create_contour() and create_filled_contour(). + void init_cache_grid(); + + // Initialise the cache with information that is specific to contouring + // the specified two levels. The levels are the same for contour lines, + // different for filled contours. + void init_cache_levels(const double &lower_level, + const double &upper_level); + + // Return the (x,y) point at which the level intersects the line + // connecting the two specified point indices. + XY interp(long point1, long point2, const double &level) const; + + // Return true if the specified QuadEdge is a boundary, i.e. is either + // an edge between a masked and non-masked quad/corner or is a chunk + // boundary. + bool is_edge_a_boundary(const QuadEdge &quad_edge) const; + + // Follow a boundary from one QuadEdge to the next in an anticlockwise + // manner around the non-masked region. + void move_to_next_boundary_edge(QuadEdge &quad_edge) const; + + // Move from the quad specified by quad_edge.quad to the neighbouring + // quad by crossing the edge specified by quad_edge.edge. + void move_to_next_quad(QuadEdge &quad_edge) const; + + // Check for filled contours starting within the specified quad and + // complete any that are found, appending them to the specified Contour. + void single_quad_filled(Contour &contour, long quad, + const double &lower_level, + const double &upper_level); + + // Start and complete a filled contour line. + // quad: index of quad to start ContourLine in. + // edge: edge of quad to start ContourLine from. + // start_level_index: the level_index that the ContourLine starts + // from. hole_or_not: whether the ContourLine is a hole or not. + // boundary_or_interior: whether the ContourLine starts on a boundary + // or + // the interior. + // lower_level: lower contour z-value. + // upper_level: upper contour z-value. + // Returns newly created ContourLine. + ContourLine *start_filled(long quad, Edge edge, + unsigned int start_level_index, + HoleOrNot hole_or_not, + BoundaryOrInterior boundary_or_interior, + const double &lower_level, + const double &upper_level); + + // Start and complete a line contour that both starts and end on a + // boundary, traversing the interior of the domain. + // vertices_list: Python list that the ContourLine should be appended + // to. quad: index of quad to start ContourLine in. edge: boundary + // edge to start ContourLine from. level: contour z-value. + // Returns true if the start quad does not need to be visited again, + // i.e. VISITED(quad,1). + bool start_line(vertices_list_type &vertices_list, long quad, Edge edge, + const double &level); + + // Debug function that writes the cache status to stdout. + void write_cache(bool grid_only = false) const; + + // Debug function that writes that cache status for a single quad to + // stdout. + void write_cache_quad(long quad, bool grid_only) const; + + // Note that mask is not stored as once it has been used to initialise + // the cache it is no longer needed. + CoordinateArray _x, _y, _z; + long _nx, _ny; // Number of points in each direction. + long _n; // Total number of points (and hence quads). + + bool _corner_mask; + long _chunk_size; // Number of quads per chunk (not points). + // Always > 0, unlike python nchunk which is 0 + // for no chunking. + + long _nxchunk, _nychunk; // Number of chunks in each direction. + long _chunk_count; // Total number of chunks. + + typedef uint32_t CacheItem; + std::vector _cache; + + ParentCache _parent_cache; // On W quad sides. + }; + + /// Segments are considered as including their end-points; i.e if the + // closest point on the path is a node in *xys* with index *i*, + // this + // returns ``(i-1, i)``. For the special case where *xys* is a + // single + // point, this returns ``(0, 0)``. + /// \param xys Coordinates of vertices + /// \param p Coordinates of point + /// \return Minimum square distance of *p* to *xys*. + /// \return Projection of *p* onto *xys*. + /// \return Consecutive indices of vertices of segment in *xys* where + /// *proj* is. + MATPLOT_EXPORTS + std::tuple, std::pair> + find_closest_point_on_path(const std::vector &xs, + const std::vector &ys, double px, + double py); + + /// \brief Compute contour lines + /// + /// This will use a square tracing algorithm to find the contour points + /// of a contour line. We look for level transitions on every + /// grid quadrant and determine the specific point with an interpolation + /// that considers how far the the points in the quadrant are for the + /// contour level. + /// + /// We compute these lines outside gnuplot because creating contour lines + /// in 2d plots (with the "plot" command) in gnuplot involves so many + /// work-arounds that it is just not worth it. + /// + /// \see + /// https://en.wikipedia.org/wiki/Boundary_tracing#Square_tracing_algorithm + /// \see + /// http://www.batesville.k12.in.us/physics/CalcNet/grapher/how_it_works.htm + /// \see http://dx.doi.org/10.1093/comjnl/33.5.402 + /// \see http://dx.doi.org/10.1016/0097-8493%2891%2990002-Y + /// \see http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=576861 + /// \see https://github.com/matplotlib/matplotlib/blob/master/src/_contour.h + using contour_line_type = std::pair; + + MATPLOT_EXPORTS + contour_line_type contour_line(const vector_2d &x, const vector_2d &y, + const vector_2d &z, double level); + + MATPLOT_EXPORTS + std::vector contourc(const vector_2d &x, + const vector_2d &y, + const vector_2d &z, + const vector_1d &levels); + + MATPLOT_EXPORTS + std::vector contourc(const vector_2d &x, + const vector_2d &y, + const vector_2d &z, + size_t n_levels = 7); + + MATPLOT_EXPORTS + std::vector contourc(const vector_2d &z, + const vector_1d &levels); + + MATPLOT_EXPORTS + std::vector contourc(const vector_2d &z, + size_t n_levels = 7); + +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_CONTOURC_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/geodata.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/geodata.h new file mode 100644 index 00000000..9ddf822d --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/geodata.h @@ -0,0 +1,51 @@ +// +// Created by Alan Freitas on 20/07/20. +// + +#ifndef MATPLOTPLUSPLUS_GEODATA_H +#define MATPLOTPLUSPLUS_GEODATA_H + +#include +#include +#include + +namespace matplot { + MATPLOT_EXPORTS + std::pair, std::vector> &world_map_10m(); + MATPLOT_EXPORTS + std::pair, std::vector> &world_map_50m(); + MATPLOT_EXPORTS + std::pair, std::vector> &world_map_110m(); + + MATPLOT_EXPORTS + std::tuple, std::vector, + std::vector> & + world_cities(); + + MATPLOT_EXPORTS + std::tuple, std::vector, + std::vector> + world_cities(double min_x_distance_per_char, double min_y_distance); + + MATPLOT_EXPORTS + std::tuple, std::vector> + greedy_tsp(const std::vector &x, const std::vector &y, + size_t starting_city = 0); + + MATPLOT_EXPORTS + std::tuple, std::vector, std::vector> + greedy_tsp_with_idx(const std::vector &x, + const std::vector &y, size_t starting_city = 0); + + MATPLOT_EXPORTS + std::tuple, std::vector, + std::vector> + clear_overlapping_labels(const std::vector &x, + const std::vector &y, + const std::vector &names, + double min_x_distance_per_char, + double min_y_distance); + +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_GEODATA_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/handle_types.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/handle_types.h new file mode 100644 index 00000000..29e75e40 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/handle_types.h @@ -0,0 +1,93 @@ +// +// Created by Alan Freitas on 2020-07-06. +// + +#ifndef MATPLOTPLUSPLUS_HANDLE_TYPES_H +#define MATPLOTPLUSPLUS_HANDLE_TYPES_H + +#include +#include + +namespace matplot { + using color_array = std::array; + + class figure_type; + using figure_handle = std::shared_ptr; + + class axes_type; + using axes_handle = std::shared_ptr; + + class axes_object; + using axes_object_handle = std::shared_ptr; + + class legend; + using legend_handle = std::shared_ptr; + + class string_function; + using string_function_handle = std::shared_ptr; + + class line; + using line_handle = std::shared_ptr; + using scatter_handle = std::shared_ptr; + + class stair; + using stair_handle = std::shared_ptr; + + class error_bar; + using error_bar_handle = std::shared_ptr; + + class filled_area; + using filled_area_handle = std::shared_ptr; + + class function_line; + using function_line_handle = std::shared_ptr; + + class histogram; + using histogram_handle = std::shared_ptr; + + class box_chart; + using box_chart_handle = std::shared_ptr; + + class parallel_lines; + using parallel_lines_handle = std::shared_ptr; + + class circles; + using circles_handle = std::shared_ptr; + + class labels; + using labels_handle = std::shared_ptr; + + class matrix; + using matrix_handle = std::shared_ptr; + + class bars; + using bars_handle = std::shared_ptr; + + class vectors; + using vectors_handle = std::shared_ptr; + + class contours; + using contours_handle = std::shared_ptr; + + class surface; + using surface_handle = std::shared_ptr; + + class network; + using network_handle = std::shared_ptr; + + /// Bin scatter style + enum class bin_scatter_style { + automatic, // decide automatically depending on the data + point_size, // size proportional to values in the bin + point_alpha, // number of elements in bin represented by colormap where + // alpha varies with density + jitter, // create a number of points in the bin proportional to the bin + // value + point_colormap, // number of elements in bin represented by default + // colormap + heatmap // number of elements in each bin represented by a heatmap + }; + +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_HANDLE_TYPES_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/keywords.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/keywords.h new file mode 100644 index 00000000..ea2ea47c --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/keywords.h @@ -0,0 +1,42 @@ +// +// Created by Alan Freitas on 2020-07-06. +// + +#ifndef MATPLOTPLUSPLUS_KEYWORDS_H +#define MATPLOTPLUSPLUS_KEYWORDS_H + +#include + +namespace matplot { + class keyword_automatic_type {}; + constexpr keyword_automatic_type automatic; + + class keyword_manual_type {}; + constexpr keyword_manual_type manual; + + class keyword_equal_type {}; + constexpr keyword_equal_type equal; + + class keyword_square_type {}; + constexpr keyword_square_type square; + + class keyword_tight_type {}; + constexpr keyword_tight_type tight; + + class keyword_ij_type {}; + constexpr keyword_ij_type ij; + + class keyword_minor_type {}; + constexpr keyword_minor_type minor; + + constexpr bool on = true; + constexpr bool off = false; + + constexpr bool left = false; + constexpr bool right = true; + + constexpr double inf = std::numeric_limits::infinity(); + +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_KEYWORDS_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/popen.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/popen.h new file mode 100644 index 00000000..3318e783 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/popen.h @@ -0,0 +1,95 @@ +// +// Created by Alan Freitas on 2020-07-06. +// + +#ifndef MATPLOTPLUSPLUS_POPEN_H +#define MATPLOTPLUSPLUS_POPEN_H + +#include +#include +#include // FILE + +#ifdef _WIN32 + +#include // HANDLE + +/// State of a child process pipe +class proc_pipe +{ +protected: + proc_pipe() = default; + HANDLE hProcess = 0; ///< WIN32 process handle + HANDLE hThread = 0; ///< WIN32 thread handle + FILE *file_ = nullptr; ///< C file handle for I/O (not both) +}; + +#elif defined(__linux) || defined(__APPLE__) + +#include // pid_t + +/// State of a child process pipe +class proc_pipe +{ +protected: + proc_pipe() = default; + pid_t pid = 0; ///< POSIX process identifier + FILE *file_ = nullptr; ///< C file handle for input or output (not both) +}; + +#else +#error "proc_pipe is not implemented for this platform" +#endif // platform specific code + +/// Common operations for a child process pipe +class common_pipe : public proc_pipe +{ +public: + FILE *file() const { return file_; } + int close(int *exit_code = nullptr); + bool opened() const { return file_ != nullptr; } + const std::string& error() const { return error_; } + bool exceptions() const { return exceptions_; } + void exceptions(bool exc) { exceptions_ = exc; } + +protected: + common_pipe() = default; + common_pipe(const common_pipe&) = delete; + common_pipe& operator=(const common_pipe&) = delete; + common_pipe(common_pipe&&) noexcept = default; + common_pipe& operator=(common_pipe&&) noexcept = default; + ~common_pipe() noexcept { + if (opened()) + close(); + } + bool exceptions_ = false; + std::string error_{}; + int report(int err, const std::string& what); + int open(const std::string &command, char mode); +}; + +/// Pipe to read from process output +class ipipe : public common_pipe +{ +public: + ipipe(); + int open(const std::string &cmd) { return common_pipe::open(cmd, 'r'); } + int read(std::string &data); +}; + +/// Pipe to write into process input +class opipe : public common_pipe +{ +public: + opipe(); + int open(const std::string &cmd) { return common_pipe::open(cmd, 'w'); } + int write(std::string_view data); + int flush(std::string_view data = {}); +}; + +/// Runs the shell command, writes data to its input and waits for completion, returns errno if failed +int shell_write(const std::string &command, std::string_view data = {}); + +/// Runs the shell command, reads data from its output and waits for completion, returns errno if failed +int shell_read(const std::string &command, std::string& data); + +#endif // MATPLOTPLUSPLUS_POPEN_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/type_traits.h b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/type_traits.h new file mode 100644 index 00000000..421a5adf --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/util/type_traits.h @@ -0,0 +1,150 @@ +// +// Created by Alan Freitas on 2020-07-05. +// + +#ifndef MATPLOTPLUSPLUS_TYPE_TRAITS_H +#define MATPLOTPLUSPLUS_TYPE_TRAITS_H + +#include +#include +#include + +namespace matplot { + template struct is_iterable { + typedef long false_type; + typedef char true_type; + + template static false_type check(...); + template + static true_type check(int, typename T::const_iterator = C().end()); + + enum { value = sizeof(check(0)) == sizeof(true_type) }; + }; + + template constexpr bool is_iterable_v = is_iterable::value; + + template struct has_value_type { + typedef long false_type; + typedef char true_type; + + template static false_type check(...); + template + static true_type check(int, typename T::value_type = *C().begin()); + + enum { value = sizeof(check(0)) == sizeof(true_type) }; + }; + + template + constexpr bool has_value_type_v = has_value_type::value; + + template struct has_iterable_value_type { + typedef long false_type; + typedef char true_type; + + template static false_type check(...); + template + static true_type + check(int, + typename T::value_type::value_type = *(C().begin()->begin())); + + enum { value = sizeof(check(0)) == sizeof(true_type) }; + }; + + template + constexpr bool has_iterable_value_type_v = + has_iterable_value_type::value; + + // Something like std::vector + template + struct is_iterable_value + : public std::integral_constant< + bool, is_iterable_v && !has_iterable_value_type_v> {}; + + template + constexpr bool is_iterable_value_v = is_iterable_value::value; + + // Something like std::vector> + template + struct is_iterable_iterable + : public std::integral_constant< + bool, is_iterable_v && has_iterable_value_type_v> {}; + + template + constexpr bool is_iterable_iterable_v = is_iterable_iterable::value; + + template + using is_string = + std::integral_constant, std::string> && + std::is_convertible_v>; + + template constexpr bool is_string_v = is_string::value; + + template struct is_pair : std::false_type {}; + + template + struct is_pair> : std::true_type {}; + + template constexpr bool is_pair_v = is_pair::value; + + template + struct is_iterable_pair + : public std::integral_constant< + bool, is_iterable_v && !has_iterable_value_type_v && + is_pair_v> {}; + + template + constexpr bool is_iterable_pair_v = is_iterable_pair::value; + + template struct is_vector : std::false_type {}; + + template + struct is_vector> : std::true_type {}; + + template struct is_initializer_list : std::false_type {}; + + template + struct is_initializer_list> : std::true_type {}; + + template struct first_type_if_pair { using type = T; }; + + template + struct first_type_if_pair> { + using type = T; + }; + + // also tried this, but it didn't help + template + struct first_type_if_pair> { + using type = T; + }; + + template struct second_type_if_pair { using type = T; }; + + template + struct second_type_if_pair> { + using type = U; + }; + + // also tried this, but it didn't help + template + struct second_type_if_pair> { + using type = U; + }; + + template struct iterable_traits { + using container_type = ITERABLE; + using iterator_type = decltype(std::declval().begin()); + using value_type = typename std::remove_reference().operator*())>::type; + static constexpr bool is_map = is_pair::value; + using key_type = + std::conditional_t; + using mapped_type = + std::conditional_t; + }; +} // namespace matplot + +#endif // MATPLOTPLUSPLUS_TYPE_TRAITS_H diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/lib/cmake/Matplot++/Matplot++Config.cmake b/dependency/x86/third_party/matplotplusplus/1.2.0/lib/cmake/Matplot++/Matplot++Config.cmake new file mode 100644 index 00000000..30be4824 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/lib/cmake/Matplot++/Matplot++Config.cmake @@ -0,0 +1,52 @@ + +####### Expanded from @PACKAGE_INIT@ by configure_package_config_file() ####### +####### Any changes to this file will be overwritten by the next CMake run #### +####### The input file was Matplot++Config.cmake.in ######## + +get_filename_component(PACKAGE_PREFIX_DIR "${CMAKE_CURRENT_LIST_DIR}/../../../" ABSOLUTE) + +macro(set_and_check _var _file) + set(${_var} "${_file}") + if(NOT EXISTS "${_file}") + message(FATAL_ERROR "File or directory ${_file} referenced by variable ${_var} does not exist !") + endif() +endmacro() + +macro(check_required_components _NAME) + foreach(comp ${${_NAME}_FIND_COMPONENTS}) + if(NOT ${_NAME}_${comp}_FOUND) + if(${_NAME}_FIND_REQUIRED_${comp}) + set(${_NAME}_FOUND FALSE) + endif() + endif() + endforeach() +endmacro() + +#################################################################################### + +# How this Matplot++ installation was built +set(MATPLOT_BUILT_SHARED "ON") +set(MATPLOT_BUILT_CXX_COMPILER_ID "GNU") +set(MATPLOT_BUILT_CXX_COMPILER_VERSION "11.4.0") + +# Check if it matches the current toolchain +if (NOT CMAKE_CXX_COMPILER_ID STREQUAL MATPLOT_BUILT_CXX_COMPILER_ID) + message(WARNING "This installation of Matplot++ was built with ${MATPLOT_BUILT_CXX_COMPILER_ID}.") +endif() + +# Find dependencies +if(NOT ${MATPLOT_BUILT_SHARED}) + include(CMakeFindDependencyMacro) + list(APPEND CMAKE_MODULE_PATH ${MATPLOT_CONFIG_INSTALL_DIR}) + list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}") + # OpenGL backend + if (OFF) + find_dependency(glad) + find_dependency(glfw3) + endif() + list(POP_BACK CMAKE_MODULE_PATH) +endif() + +# Create imported targets +include("${CMAKE_CURRENT_LIST_DIR}/Matplot++Targets.cmake") +check_required_components(Matplot++) diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/lib/cmake/Matplot++/Matplot++ConfigVersion.cmake b/dependency/x86/third_party/matplotplusplus/1.2.0/lib/cmake/Matplot++/Matplot++ConfigVersion.cmake new file mode 100644 index 00000000..bdbb251e --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/lib/cmake/Matplot++/Matplot++ConfigVersion.cmake @@ -0,0 +1,70 @@ +# This is a basic version file for the Config-mode of find_package(). +# It is used by write_basic_package_version_file() as input file for configure_file() +# to create a version-file which can be installed along a config.cmake file. +# +# The created file sets PACKAGE_VERSION_EXACT if the current version string and +# the requested version string are exactly the same and it sets +# PACKAGE_VERSION_COMPATIBLE if the current version is >= requested version, +# but only if the requested major version is the same as the current one. +# The variable CVF_VERSION must be set before calling configure_file(). + + +set(PACKAGE_VERSION "1.2.0") + +if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION) + set(PACKAGE_VERSION_COMPATIBLE FALSE) +else() + + if("1.2.0" MATCHES "^([0-9]+)\\.") + set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}") + if(NOT CVF_VERSION_MAJOR VERSION_EQUAL 0) + string(REGEX REPLACE "^0+" "" CVF_VERSION_MAJOR "${CVF_VERSION_MAJOR}") + endif() + else() + set(CVF_VERSION_MAJOR "1.2.0") + endif() + + if(PACKAGE_FIND_VERSION_RANGE) + # both endpoints of the range must have the expected major version + math (EXPR CVF_VERSION_MAJOR_NEXT "${CVF_VERSION_MAJOR} + 1") + if (NOT PACKAGE_FIND_VERSION_MIN_MAJOR STREQUAL CVF_VERSION_MAJOR + OR ((PACKAGE_FIND_VERSION_RANGE_MAX STREQUAL "INCLUDE" AND NOT PACKAGE_FIND_VERSION_MAX_MAJOR STREQUAL CVF_VERSION_MAJOR) + OR (PACKAGE_FIND_VERSION_RANGE_MAX STREQUAL "EXCLUDE" AND NOT PACKAGE_FIND_VERSION_MAX VERSION_LESS_EQUAL CVF_VERSION_MAJOR_NEXT))) + set(PACKAGE_VERSION_COMPATIBLE FALSE) + elseif(PACKAGE_FIND_VERSION_MIN_MAJOR STREQUAL CVF_VERSION_MAJOR + AND ((PACKAGE_FIND_VERSION_RANGE_MAX STREQUAL "INCLUDE" AND PACKAGE_VERSION VERSION_LESS_EQUAL PACKAGE_FIND_VERSION_MAX) + OR (PACKAGE_FIND_VERSION_RANGE_MAX STREQUAL "EXCLUDE" AND PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION_MAX))) + set(PACKAGE_VERSION_COMPATIBLE TRUE) + else() + set(PACKAGE_VERSION_COMPATIBLE FALSE) + endif() + else() + if(PACKAGE_FIND_VERSION_MAJOR STREQUAL CVF_VERSION_MAJOR) + set(PACKAGE_VERSION_COMPATIBLE TRUE) + else() + set(PACKAGE_VERSION_COMPATIBLE FALSE) + endif() + + if(PACKAGE_FIND_VERSION STREQUAL PACKAGE_VERSION) + set(PACKAGE_VERSION_EXACT TRUE) + endif() + endif() +endif() + + +# if the installed project requested no architecture check, don't perform the check +if("FALSE") + return() +endif() + +# if the installed or the using project don't have CMAKE_SIZEOF_VOID_P set, ignore it: +if("${CMAKE_SIZEOF_VOID_P}" STREQUAL "" OR "8" STREQUAL "") + return() +endif() + +# check that the installed version has the same 32/64bit-ness as the one which is currently searching: +if(NOT CMAKE_SIZEOF_VOID_P STREQUAL "8") + math(EXPR installedBits "8 * 8") + set(PACKAGE_VERSION "${PACKAGE_VERSION} (${installedBits}bit)") + set(PACKAGE_VERSION_UNSUITABLE TRUE) +endif() diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/lib/cmake/Matplot++/Matplot++Targets-release.cmake b/dependency/x86/third_party/matplotplusplus/1.2.0/lib/cmake/Matplot++/Matplot++Targets-release.cmake new file mode 100644 index 00000000..04d93efd --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/lib/cmake/Matplot++/Matplot++Targets-release.cmake @@ -0,0 +1,19 @@ +#---------------------------------------------------------------- +# Generated CMake target import file for configuration "Release". +#---------------------------------------------------------------- + +# Commands may need to know the format version. +set(CMAKE_IMPORT_FILE_VERSION 1) + +# Import target "Matplot++::matplot" for configuration "Release" +set_property(TARGET Matplot++::matplot APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE) +set_target_properties(Matplot++::matplot PROPERTIES + IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmatplot.so.1.2.0" + IMPORTED_SONAME_RELEASE "libmatplot.so.1" + ) + +list(APPEND _IMPORT_CHECK_TARGETS Matplot++::matplot ) +list(APPEND _IMPORT_CHECK_FILES_FOR_Matplot++::matplot "${_IMPORT_PREFIX}/lib/libmatplot.so.1.2.0" ) + +# Commands beyond this point should not need to know the version. +set(CMAKE_IMPORT_FILE_VERSION) diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/lib/cmake/Matplot++/Matplot++Targets.cmake b/dependency/x86/third_party/matplotplusplus/1.2.0/lib/cmake/Matplot++/Matplot++Targets.cmake new file mode 100644 index 00000000..7f07b7c5 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/lib/cmake/Matplot++/Matplot++Targets.cmake @@ -0,0 +1,96 @@ +# Generated by CMake + +if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.6) + message(FATAL_ERROR "CMake >= 2.6.0 required") +endif() +cmake_policy(PUSH) +cmake_policy(VERSION 2.6...3.20) +#---------------------------------------------------------------- +# Generated CMake target import file. +#---------------------------------------------------------------- + +# Commands may need to know the format version. +set(CMAKE_IMPORT_FILE_VERSION 1) + +# Protect against multiple inclusion, which would fail when already imported targets are added once more. +set(_targetsDefined) +set(_targetsNotDefined) +set(_expectedTargets) +foreach(_expectedTarget Matplot++::matplot) + list(APPEND _expectedTargets ${_expectedTarget}) + if(NOT TARGET ${_expectedTarget}) + list(APPEND _targetsNotDefined ${_expectedTarget}) + endif() + if(TARGET ${_expectedTarget}) + list(APPEND _targetsDefined ${_expectedTarget}) + endif() +endforeach() +if("${_targetsDefined}" STREQUAL "${_expectedTargets}") + unset(_targetsDefined) + unset(_targetsNotDefined) + unset(_expectedTargets) + set(CMAKE_IMPORT_FILE_VERSION) + cmake_policy(POP) + return() +endif() +if(NOT "${_targetsDefined}" STREQUAL "") + message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n") +endif() +unset(_targetsDefined) +unset(_targetsNotDefined) +unset(_expectedTargets) + + +# Compute the installation prefix relative to this file. +get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH) +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) +get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH) +if(_IMPORT_PREFIX STREQUAL "/") + set(_IMPORT_PREFIX "") +endif() + +# Create imported target Matplot++::matplot +add_library(Matplot++::matplot SHARED IMPORTED) + +set_target_properties(Matplot++::matplot PROPERTIES + INTERFACE_COMPILE_DEFINITIONS "NOMINMAX;MATPLOT_BUILD_HIGH_RESOLUTION_WORLD_MAP" + INTERFACE_COMPILE_FEATURES "cxx_std_17" + INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include" +) + +# Load information for each installed configuration. +get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH) +file(GLOB CONFIG_FILES "${_DIR}/Matplot++Targets-*.cmake") +foreach(f ${CONFIG_FILES}) + include(${f}) +endforeach() + +# Cleanup temporary variables. +set(_IMPORT_PREFIX) + +# Loop over all imported files and verify that they actually exist +foreach(target ${_IMPORT_CHECK_TARGETS} ) + foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} ) + if(NOT EXISTS "${file}" ) + message(FATAL_ERROR "The imported target \"${target}\" references the file + \"${file}\" +but this file does not exist. Possible reasons include: +* The file was deleted, renamed, or moved to another location. +* An install or uninstall procedure did not complete successfully. +* The installation package was faulty and contained + \"${CMAKE_CURRENT_LIST_FILE}\" +but not all the files it references. +") + endif() + endforeach() + unset(_IMPORT_CHECK_FILES_FOR_${target}) +endforeach() +unset(_IMPORT_CHECK_TARGETS) + +# This file does not depend on other imported targets which have +# been exported from the same project but in a separate export set. + +# Commands beyond this point should not need to know the version. +set(CMAKE_IMPORT_FILE_VERSION) +cmake_policy(POP) diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/lib/libmatplot.so b/dependency/x86/third_party/matplotplusplus/1.2.0/lib/libmatplot.so new file mode 120000 index 00000000..4785a35f --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/lib/libmatplot.so @@ -0,0 +1 @@ +libmatplot.so.1 \ No newline at end of file diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/lib/libmatplot.so.1 b/dependency/x86/third_party/matplotplusplus/1.2.0/lib/libmatplot.so.1 new file mode 120000 index 00000000..b9476658 --- /dev/null +++ b/dependency/x86/third_party/matplotplusplus/1.2.0/lib/libmatplot.so.1 @@ -0,0 +1 @@ +libmatplot.so.1.2.0 \ No newline at end of file diff --git a/dependency/x86/third_party/matplotplusplus/1.2.0/lib/libmatplot.so.1.2.0 b/dependency/x86/third_party/matplotplusplus/1.2.0/lib/libmatplot.so.1.2.0 new file mode 100644 index 00000000..bfdc5e20 Binary files /dev/null and b/dependency/x86/third_party/matplotplusplus/1.2.0/lib/libmatplot.so.1.2.0 differ diff --git a/model/xiaoyan_description/dual_arm.xml b/model/xiaoyan_description/dual_arm.xml index 4460b2a1..754f0784 100644 --- a/model/xiaoyan_description/dual_arm.xml +++ b/model/xiaoyan_description/dual_arm.xml @@ -229,7 +229,6 @@ -