plot_window.hpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#ifndef ACADO_TOOLKIT_PLOT_WINDOW_HPP
#define ACADO_TOOLKIT_PLOT_WINDOW_HPP


#include <acado/utils/acado_utils.hpp>
#include <acado/matrix_vector/matrix_vector.hpp>
#include <acado/symbolic_expression/symbolic_expression.hpp>
#include <acado/function/function.hpp>

#include <acado/user_interaction/plot_window_subplot.hpp>
#include <acado/user_interaction/log_record.hpp>


BEGIN_NAMESPACE_ACADO


class PlotWindow
{
        friend class PlotCollection;
        friend class Plotting;

        //
        // PUBLIC MEMBER FUNCTIONS:
        //
        public:
                PlotWindow( );

                PlotWindow(     PlotFrequency _frequency
                                        );


                PlotWindow(     const PlotWindow& rhs
                                        );

                virtual ~PlotWindow( );

                PlotWindow& operator=(  const PlotWindow& rhs
                                                                );


                virtual PlotWindow* clone( ) const;


        virtual returnValue init( );


                virtual returnValue plot(       PlotFrequency _frequency = PLOT_IN_ANY_CASE
                                                                        );


                virtual returnValue replot(     PlotFrequency _frequency = PLOT_IN_ANY_CASE
                                                                        );


        virtual returnValue setTitle(   uint idx,
                                                                                const char* const title_
                                                                                );

        virtual returnValue setLabelX(  uint idx,
                                                                                const char* const xLabel_
                                                                                );

        virtual returnValue setLabelY(  uint idx,
                                                                                const char* const yLabel_
                                                                                );

        virtual returnValue setPlotMode(        uint idx,
                                                                                        PlotMode plotMode
                                                                                        );

        virtual returnValue setRanges(  uint idx,
                                                                                double xRange1,
                                                                                double xRange2,
                                                                                double yRange1,
                                                                                double yRange2
                                                                                );


                virtual returnValue addLine(    uint idx,
                                                                                double _lineValue
                                                                                );

                virtual returnValue addData(    uint idx,
                                                                                const VariablesGrid& _newData
                                                                                );


                inline PlotWindowSubplot& operator()(   uint idx
                                                                                                );

                inline PlotWindowSubplot operator()(    uint idx
                                                                                                ) const;


                returnValue operator<<( PlotWindowSubplot& _subplot
                                                                );

                returnValue operator<<( PlotName _name
                                                                );

                returnValue operator<<( const Expression& _name
                                                                );


                returnValue addSubplot( PlotWindowSubplot& _subplot
                                                                );


                returnValue addSubplot( const Expression& _expression,
                                                                const char* const _title = "",
                                                                const char* const _xLabel = "",
                                                                const char* const _yLabel = "",
                                                                PlotMode _plotMode = PM_UNKNOWN,
                                                                double _xRangeLowerLimit = INFTY,
                                                                double _xRangeUpperLimit = INFTY,
                                                                double _yRangeLowerLimit = INFTY,
                                                                double _yRangeUpperLimit = INFTY
                                                                );

                returnValue addSubplot( const Expression& _expressionX,
                                                                const Expression& _expressionY,
                                                                const char* const _title = "",
                                                                const char* const _xLabel = "",
                                                                const char* const _yLabel = "",
                                                                PlotMode _plotMode = PM_UNKNOWN,
                                                                double _xRangeLowerLimit = INFTY,
                                                                double _xRangeUpperLimit = INFTY,
                                                                double _yRangeLowerLimit = INFTY,
                                                                double _yRangeUpperLimit = INFTY
                                                                );

                returnValue addSubplot( PlotName _name,
                                                                const char* const _title = "",
                                                                const char* const _xLabel = "",
                                                                const char* const _yLabel = "",
                                                                PlotMode _plotMode = PM_UNKNOWN,
                                                                double _xRangeLowerLimit = INFTY,
                                                                double _xRangeUpperLimit = INFTY,
                                                                double _yRangeLowerLimit = INFTY,
                                                                double _yRangeUpperLimit = INFTY
                                                                );

                returnValue addSubplot( const VariablesGrid& _variable,
                                                                const char* const _title = "",
                                                                const char* const _xLabel = "",
                                                                const char* const _yLabel = "",
                                                                PlotMode _plotMode = PM_UNKNOWN,
                                                                double _xRangeLowerLimit = INFTY,
                                                                double _xRangeUpperLimit = INFTY,
                                                                double _yRangeLowerLimit = INFTY,
                                                                double _yRangeUpperLimit = INFTY
                                                                );

                returnValue addSubplot3D(       const VariablesGrid& _variable,
                                                                        const char* const _title = "",
                                                                        const char* const _xLabel = "",
                                                                        const char* const _yLabel = "",
                                                                        PlotMode _plotMode = PM_UNKNOWN,
                                                                        double _xRangeLowerLimit = INFTY,
                                                                        double _xRangeUpperLimit = INFTY,
                                                                        double _yRangeLowerLimit = INFTY,
                                                                        double _yRangeUpperLimit = INFTY
                                                                        );

                returnValue addSubplot( const Curve& _curve,
                                                                double _xRangeLowerLimit = 0.0,
                                                                double _xRangeUpperLimit = 1.0,
                                                                const char* const _title = "",
                                                                const char* const _xLabel = "",
                                                                const char* const _yLabel = "",
                                                                PlotMode _plotMode = PM_UNKNOWN,
                                                                double _yRangeLowerLimit = INFTY,
                                                                double _yRangeUpperLimit = INFTY
                                                                );


                returnValue clearAllSubplots( );


                inline PlotFrequency getPlotFrequency( ) const;


                inline uint getNumSubplots( ) const;

                inline BooleanType isEmpty( ) const;


                inline returnValue getPlotDataRecord(   LogRecord& _record
                                                                                                ) const;

                inline returnValue setPlotDataRecord(   LogRecord& _record
                                                                                                );



                inline returnValue setPlotData( const Expression& _name,
                                                                                VariablesGrid& value
                                                                                );

                inline returnValue setPlotData( LogName _name,
                                                                                VariablesGrid& value
                                                                                );


                inline BooleanType isAlias( ) const;

                inline int getAliasIdx( ) const;


    //
    // PROTECTED MEMBER FUNCTIONS:
    //
    protected:

                inline returnValue setNext(     PlotWindow* const _next
                                                                        );

                inline PlotWindow* getNext( ) const;


                returnValue addPlotDataItem(    VariableType _type
                                                                                );

                returnValue addPlotDataItem(    const Expression* const _expression
                                                                                );

                returnValue addPlotDataItem(    PlotName _name
                                                                                );


                LogName convertPlotToLogName(   PlotName _name
                                                                                ) const;

                PlotName convertLogToPlotName(  LogName _name
                                                                                ) const;


                returnValue setupLogFrequency(  PlotFrequency _frequency = PLOT_AT_EACH_ITERATION
                                                                                );


                inline returnValue setAliasIdx( int _aliasIdx
                                                                                );


                returnValue getVariableDataGrids(       const Expression* const variable,
                                                                                        VariableType& _type,
                                                                                        VariablesGrid& _dataGrid,
                                                                                        Grid& _discretizationGrid
                                                                                        );

                returnValue getExpressionDataGrids(     const Expression* const expression,
                                                                                        VariableType& _type,
                                                                                        VariablesGrid& _dataGrid,
                                                                                        Grid& _discretizationGrid
                                                                                        );

                returnValue getDataGrids(       const VariablesGrid* const variablesGrid,
                                                                        VariableType& _type,
                                                                        VariablesGrid& _dataGrid,
                                                                        Grid& _discretizationGrid
                                                                        );


                returnValue getAutoScaleYLimits(        const VariablesGrid& dataGridY,
                                                                                        PlotFormat plotFormat,
                                                                                        double& lowerLimit,
                                                                                        double& upperLimit
                                                                                        ) const;


                inline returnValue enableNominalControls( );
                
                inline returnValue disableNominalControls( );


                inline returnValue enableNominalParameters( );
                
                inline returnValue disableNominalParameters( );

                
                inline returnValue enableNominalOutputs( );
                
                inline returnValue disableNominalOutputs( );



    //
    // DATA MEMBERS:
    //
        protected:
                PlotWindow* next;                                               
                int aliasIdx;                                                   
                PlotFrequency frequency;                                
                PlotWindowSubplot* first;                               
                PlotWindowSubplot* last;                                
                uint number;                                                    
                LogRecord plotDataRecord;                               
                BooleanType shallPlotNominalControls;   
                BooleanType shallPlotNominalParameters; 
                BooleanType shallPlotNominalOutputs;    
};


CLOSE_NAMESPACE_ACADO


#include <acado/user_interaction/plot_window.ipp>


#endif  // ACADO_TOOLKIT_PLOT_WINDOW_HPP


/*
 *      end of file
 */