types.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rtc/gui/types.h>
 
#include <limits>
 
namespace mc_rtc
{
 
namespace gui
{
 
namespace plot
{
 
enum class Plot
{
  Standard = 0,
  XY
};
 
enum class Type
{
  Abscissa,
  Ordinate,
  Polygon,
  Polygons,
  AbscissaOrdinate
};
 
template<typename T>
constexpr bool is_Abscissa()
{
  return T::type == Type::Abscissa;
}
 
template<bool = true>
constexpr bool is_not_Abscissa()
{
  return true;
}
 
template<typename T, typename... Args>
constexpr bool is_not_Abscissa()
{
  return (T::type != Type::Abscissa) && is_not_Abscissa<Args...>();
}
 
template<bool = true>
constexpr bool is_2d()
{
  return true;
}
 
template<typename T, typename... Args>
constexpr bool is_2d()
{
  return T::type != Type::Abscissa && T::type != Type::Ordinate && is_2d<Args...>();
}
 
struct MC_RTC_GUI_DLLAPI Range
{
  static constexpr double inf = std::numeric_limits<double>::infinity();
  double min = -inf;
  double max = inf;
 
  Range() = default;
  Range(double min, double max) : min(min), max(max) {}
 
  void fromMessagePack(const mc_rtc::Configuration & config)
  {
    std::array<double, 2> data = config;
    min = data[0];
    max = data[1];
  }
 
  void write(mc_rtc::MessagePackBuilder & builder) const
  {
    builder.start_array(2);
    builder.write(min);
    builder.write(max);
    builder.finish_array();
  }
};
 
struct MC_RTC_GUI_DLLAPI AxisConfiguration
{
  std::string name;
  Range range;
 
  AxisConfiguration() = default;
  AxisConfiguration(std::string_view name) : AxisConfiguration(name, {}) {}
  AxisConfiguration(Range range) : AxisConfiguration("", range) {}
  AxisConfiguration(std::string_view name, Range range) : name(name), range(range) {}
 
  AxisConfiguration & min(double min)
  {
    range.min = min;
    return *this;
  }
 
  AxisConfiguration & max(double max)
  {
    range.max = max;
    return *this;
  }
 
  void fromMessagePack(const mc_rtc::Configuration & config)
  {
    name = static_cast<std::string>(config[0]);
    range.fromMessagePack(config[1]);
  }
 
  void write(mc_rtc::MessagePackBuilder & builder) const
  {
    builder.start_array(2);
    builder.write(name);
    range.write(builder);
    builder.finish_array();
  }
};
 
enum class MC_RTC_GUI_DLLAPI Style
{
  Solid,
  Dotted,
  Dashed,
  Point
};
 
enum class MC_RTC_GUI_DLLAPI Side
{
  Left,
  Right
};
 
struct MC_RTC_GUI_DLLAPI PolygonDescription
{
  PolygonDescription() : PolygonDescription({}, {}) {}
 
  PolygonDescription(const std::vector<std::array<double, 2>> & points, Color outline)
  : points_(points), outline_(outline)
  {
  }
 
  bool operator==(const PolygonDescription & rhs) const
  {
    return points_ == rhs.points_ && outline_ == rhs.outline_ && style_ == rhs.style_ && fill_ == rhs.fill_
           && closed_ == rhs.closed_;
  };
 
  bool operator!=(const PolygonDescription & rhs) const { return !(*this == rhs); }
 
  // clang-format off
  std::vector<std::array<double, 2>> & points() { return points_; }
  Color & outline() { return outline_; };
  Style & style() { return style_; };
  Color & fill() { return fill_; };
  bool closed() { return closed_; };
 
  const std::vector<std::array<double, 2>> & points() const { return points_; }
  const Color & outline() const { return outline_; };
  const Style & style() const { return style_; };
  const Color & fill() const { return fill_; };
  bool closed() const { return closed_; };
 
  PolygonDescription & outline(const Color & outline) { outline_ = outline; return *this; };
  PolygonDescription & style(const Style & style) { style_ = style; return *this; };
  PolygonDescription & fill(const Color & fill) { fill_ = fill; return *this; };
  PolygonDescription & closed(bool closed) { closed_ = closed; return *this; };
  // clang-format on
 
  void fromMessagePack(const mc_rtc::Configuration & data)
  {
    points_ = data[0];
    outline_.fromMessagePack(data[1]);
    style_ = static_cast<Style>(static_cast<uint64_t>(data[2]));
    fill_.fromMessagePack(data[3]);
    closed_ = data[4];
  }
 
  void write(mc_rtc::MessagePackBuilder & builder) const
  {
    builder.start_array(5);
    builder.write(points_);
    outline_.write(builder);
    builder.write(static_cast<uint64_t>(style_));
    fill_.write(builder);
    builder.write(closed_);
    builder.finish_array();
  }
 
private:
  std::vector<std::array<double, 2>> points_;
  Color outline_;
  Style style_ = Style::Solid;
  Color fill_ = Color(0, 0, 0, 0);
  bool closed_ = true;
};
 
} // namespace plot
 
} // namespace gui
 
} // namespace mc_rtc