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