data_tools::PlotArea Class Reference

Класс, упрощающий управление классами gui на QCustomPlot. More...

#include <plot_area.h>

Collaboration diagram for data_tools::PlotArea:

Public Member Functions
	PlotArea ()=default
	PlotArea (QCustomPlot *plot)
void	ClearTrajectory ()
gui::FlyingRobot *	GetRobot ()
gui::Trajectory *	GetTrajectory ()
void	ReDraw ()
	Перерисовывает на полотне все объекты и обновляет данные
void	ReDrawTrajectory ()
	Перерисовывает на полотне траекторию
void	SetAmountOfRobots (unsigned short amount)
void	SetPlot (QCustomPlot *plot)
	Устанавливает значение plot.
void	Setup (DataManager *manager)
size_t	TrajectorySize () const

Private Member Functions
void	CalculateTrajectory_ ()
	Расчет вектора сегментов по заданным объектам на полотне
void	CheckHills_ ()
void	CheckIntersectionsBetweenHills_ ()
void	CheckIntersectionsBetweenTrappyCircles_ ()
void	CheckTargets_ ()
void	CheckTrappyCircles_ ()
void	CheckTrappyLines_ ()

Private Attributes
unsigned short	amount_of_robots_ = 1
std::unique_ptr< DataManager >	manager_
std::unique_ptr< QCustomPlot >	plot_
std::unique_ptr< gui::FlyingRobot >	robot_ {new gui::FlyingRobot()}
std::unique_ptr< gui::Trajectory >	trajectory_ {new gui::Trajectory()}

Detailed Description

Класс, упрощающий управление классами gui на QCustomPlot.

Constructor & Destructor Documentation

PlotArea() [1/2]

data_tools::PlotArea::PlotArea ( )

default

PlotArea() [2/2]

data_tools::PlotArea::PlotArea ( QCustomPlot * plot )

inline

: plot_{plot} {}

Member Function Documentation

CalculateTrajectory_()

void data_tools::PlotArea::CalculateTrajectory_ ( )

private

Расчет вектора сегментов по заданным объектам на полотне

                                    {
  auto lib_targets = std::vector<lib::Target>(manager_->GetTargets().size());
  for (size_t i = 0; i < lib_targets.size(); i++)
    lib_targets[i] = manager_->GetTargets()[i].GetData();
 
  auto lib_hills = std::vector<lib::Hill>(manager_->GetHills().size());
  for (size_t i = 0; i < lib_hills.size(); i++)
    lib_hills[i] = manager_->GetHills()[i].GetData();
 
  auto lib_tr_lines =
      std::vector<lib::TrappyLine>(manager_->GetTrappyLines().size());
  for (size_t i = 0; i < lib_tr_lines.size(); i++)
    lib_tr_lines[i] = manager_->GetTrappyLines()[i].GetData();
 
  auto lib_tr_circles =
      std::vector<lib::TrappyCircle>(manager_->GetTrappyCircles().size());
  for (size_t i = 0; i < lib_tr_circles.size(); i++)
    lib_tr_circles[i] = manager_->GetTrappyCircles()[i].GetData();
 
  trajectory_->Calculate(lib_targets, lib_hills, lib_tr_circles, lib_tr_lines,
                         amount_of_robots_);
  if (lib_targets.size() > 1) robot_->SetTrajectory(trajectory_.get());
}

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CheckHills_()

void data_tools::PlotArea::CheckHills_ ( )

private

                           {
  for (const auto& hill : manager_->GetHills()) {
    // Проверка на пересечения с другими Hill
    CheckIntersectionsBetweenHills_();
 
    // Проверка на выпуклость многоугольника
    // Определяем знак векторного произведения
    QVector2D v1 = QVector2D(hill.GetVertices()[1].x - hill.GetVertices()[0].x,
                             hill.GetVertices()[1].y - hill.GetVertices()[0].y);
    QVector2D v2 = QVector2D(hill.GetVertices()[2].x - hill.GetVertices()[1].x,
                             hill.GetVertices()[2].y - hill.GetVertices()[1].y);
    short sign = (v1.x() * v2.y() - v1.y() * v2.x()) /
                 abs(v1.x() * v2.y() - v1.y() * v2.x());
 
    size_t sz = hill.GetVertices().size();
    for (size_t i = 1; i < sz; i++) {
      QVector2D vec1 = QVector2D(
          hill.GetVertices()[(i + 1) % sz].x - hill.GetVertices()[i % sz].x,
          hill.GetVertices()[(i + 1) % sz].y - hill.GetVertices()[i % sz].y);
      QVector2D vec2 = QVector2D(hill.GetVertices()[(i + 2) % sz].x -
                                     hill.GetVertices()[(i + 1) % sz].x,
                                 hill.GetVertices()[(i + 2) % sz].y -
                                     hill.GetVertices()[(i + 1) % sz].y);
 
      double product = vec1.x() * vec2.y() - vec1.y() * vec2.x();
 
      if (product == 0 || product / abs(product) != sign) {
        std::string text = "There is non-convex polygon! Id: ";
        text += std::to_string(hill.GetData().GetId());
        throw std::invalid_argument(text);
      }
    }
 
    // Проверка на то, что какой-то Target находится внутри или на Hill
    for (const auto& target : manager_->GetTargets())
      if (IsPointInsideHill(target.GetPoint(), hill.GetVertices())) {
        std::string text = "There is Target in Hill! Id's: ";
        text += std::to_string(target.GetData().GetId());
        text += " and ";
        text += std::to_string(hill.GetData().GetId());
        throw std::invalid_argument(text);
      }
  }
}

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CheckIntersectionsBetweenHills_()

void data_tools::PlotArea::CheckIntersectionsBetweenHills_ ( )

private

                                               {
  if (manager_->GetHillsPtrs().empty()) return;
 
  for (size_t i = 0; i < manager_->GetHills().size() - 1; i++) {
    std::vector<math::Point> vec;
    for (const auto& v : manager_->GetHillsPtrs()[i]->GetVertices())
      vec.push_back(math::Point(v));
 
    for (size_t j = i + 1; j < manager_->GetHillsPtrs().size(); j++) {
      std::vector<math::Point> vec2;
      for (const auto& v : manager_->GetHillsPtrs()[j]->GetVertices())
        vec2.push_back(math::Point(v));
 
      for (size_t k = 0; k < vec2.size(); k++) {
        if (math::AreThereIntersections(math::PolygonObstacle(vec), vec2[k],
                                        vec2[(k + 1) % vec2.size()]) ||
            IsPointInsideHill(manager_->GetHillsPtrs()[j]->GetVertices()[k],
                              manager_->GetHillsPtrs()[i]->GetVertices())) {
          std::string text = "There are intersections between Hills! Id's: ";
          text +=
              std::to_string(manager_->GetHillsPtrs()[i]->GetData().GetId());
          text += " and ";
          text +=
              std::to_string(manager_->GetHillsPtrs()[j]->GetData().GetId());
          throw std::invalid_argument(text);
        }
      }
    }
  }
}

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CheckIntersectionsBetweenTrappyCircles_()

void data_tools::PlotArea::CheckIntersectionsBetweenTrappyCircles_ ( )

private

                                                       {
  if (manager_->GetTrappyCircles().empty()) return;
 
  for (size_t i = 0; i < manager_->GetTrappyCircles().size() - 1; i++) {
    const auto trc = manager_->GetTrappyCircles()[i];
 
    for (size_t j = i + 1; j < manager_->GetTrappyCircles().size(); j++) {
      const auto trc2 = manager_->GetTrappyCircles()[j];
 
      if (lib::DistanceBetweenPoints(trc2.GetCenter(), trc.GetCenter()) <
          trc2.GetRadius() + trc.GetRadius()) {
        std::string text =
            "There are intersections between TrappyCircles! Id's: ";
        text += std::to_string(trc.GetData().GetId());
        text += " and ";
        text += std::to_string(trc2.GetData().GetId());
        throw std::invalid_argument(text);
      }
    }
  }
}

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CheckTargets_()

void data_tools::PlotArea::CheckTargets_ ( )

private

                             {
  if (manager_->GetTargetsPtrs().size() > 30) {
    std::string text = "There are too many Targets: ";
    text += std::to_string(manager_->GetTargetsPtrs().size());
    text += " > 30 \n";
    text += "(sorry, but our algo is now to slow for more)";
    throw std::invalid_argument(text);
  }
}

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CheckTrappyCircles_()

void data_tools::PlotArea::CheckTrappyCircles_ ( )

private

                                   {
  // Проверка на пересечения с другими TrappyCircle
  CheckIntersectionsBetweenTrappyCircles_();
 
  if (manager_->GetTrappyCircles().empty()) return;
 
  for (const auto& trc : manager_->GetTrappyCircles()) {
    // Проверка на то, что какой-то Target находится внутри TrappyCircle
    for (const auto& target : manager_->GetTargets()) {
      if (lib::DistanceBetweenPoints(target.GetPoint(), trc.GetCenter()) <=
          trc.GetRadius()) {
        std::string text = "There is Target in TrappyCircle! Id's: ";
        text += std::to_string(target.GetData().GetId());
        text += " and ";
        text += std::to_string(trc.GetData().GetId());
        throw std::invalid_argument(text);
      }
    }
 
    // Проверка на пересечения с Hill
    for (const auto& hill : manager_->GetHillsPtrs()) {
      std::vector<math::Point> vec;
      for (const auto& v : hill->GetVertices()) vec.push_back(math::Point(v));
 
      for (size_t k = 0; k < vec.size(); k++) {
        if (math::AreThereIntersections(
                math::CircleObstacle(trc.GetCenter(), trc.GetRadius()), vec[k],
                vec[(k + 1) % vec.size()]) ||
            IsPointInsideHill(trc.GetCenter(), hill->GetVertices()) ||
            lib::DistanceBetweenPoints(
                trc.GetCenter(), hill->GetVertices()[k]) < trc.GetRadius()) {
          std::string text =
              "There are intersections between TrappyCircle and Hill! Id's: ";
          text += std::to_string(trc.GetData().GetId());
          text += " and ";
          text += std::to_string(hill->GetData().GetId());
          throw std::invalid_argument(text);
        }
      }
    }
  }
}

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CheckTrappyLines_()

void data_tools::PlotArea::CheckTrappyLines_ ( )

private

                                 {
  auto l = manager_->GetTrappyLinesPtrs().size();
  auto n = manager_->GetTargetsPtrs().size() + amount_of_robots_ - 1;
  if (l == 0) return;
 
  // прекрасная формула
  if ((pow(n, 2) - n) / 2 - l < n)
    throw std::invalid_argument("There are too many TrappyLines here!");
}

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ClearTrajectory()

void data_tools::PlotArea::ClearTrajectory ( )

inline

{ trajectory_->Clear(); }

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GetRobot()

gui::FlyingRobot * data_tools::PlotArea::GetRobot ( )

inline

{ return robot_.get(); }

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GetTrajectory()

gui::Trajectory * data_tools::PlotArea::GetTrajectory ( )

inline

{ return trajectory_.get(); }

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ReDraw()

void data_tools::PlotArea::ReDraw

(

)

Перерисовывает на полотне все объекты и обновляет данные

                      {
  plot_->clearPlottables();
  plot_->clearItems();
 
  for (auto& target : manager_->GetTargetsPtrs()) target->Draw(plot_.get());
 
  for (auto& hill : manager_->GetHillsPtrs()) hill->Draw(plot_.get());
 
  for (auto& tr_circle : manager_->GetTrappyCirclesPtrs())
    tr_circle->Draw(plot_.get());
 
  for (auto& tr_line : manager_->GetTrappyLinesPtrs())
    tr_line->Draw(plot_.get());
 
  trajectory_->Clear();
 
  plot_->replot();
}

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ReDrawTrajectory()

void data_tools::PlotArea::ReDrawTrajectory

(

)

Перерисовывает на полотне траекторию

                                {
  ReDraw();
 
  try {
    CheckTrappyCircles_();
    CheckHills_();
    CheckTrappyLines_();
    CheckTargets_();
 
    CalculateTrajectory_();
    trajectory_->Draw(plot_.get());
    plot_->replot();
  } catch (const std::exception& e) {
    QMessageBox::warning(plot_.get(), "Cannot calculate trajectory!", e.what());
  }
}

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SetAmountOfRobots()

void data_tools::PlotArea::SetAmountOfRobots ( unsigned short amount )

inline

{ amount_of_robots_ = amount; }

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SetPlot()

void data_tools::PlotArea::SetPlot ( QCustomPlot * plot )

inline

Устанавливает значение plot.

Parameters

plot	указатель на полотно

{ plot_.reset(plot); }

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Setup()

void data_tools::PlotArea::Setup

(

DataManager *

manager

)

{ manager_.reset(manager); }

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TrajectorySize()

size_t data_tools::PlotArea::TrajectorySize ( ) const

inline

{ return trajectory_->Segments().size(); }

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Member Data Documentation

amount_of_robots_

unsigned short data_tools::PlotArea::amount_of_robots_ = 1

private

manager_

std::unique_ptr<DataManager> data_tools::PlotArea::manager_

private

plot_

std::unique_ptr<QCustomPlot> data_tools::PlotArea::plot_

private

robot_

std::unique_ptr<gui::FlyingRobot> data_tools::PlotArea::robot_ {new gui::FlyingRobot()}

private

{new gui::FlyingRobot()};

trajectory_

std::unique_ptr<gui::Trajectory> data_tools::PlotArea::trajectory_ {new gui::Trajectory()}

private

{new gui::Trajectory()};

---

The documentation for this class was generated from the following files:

• data_tools/plot_area/plot_area.h
• data_tools/plot_area/check_errors.cpp
• data_tools/plot_area/plot_area.cpp