void print_deceleration_curve_with_gnuplot(Gnuplot & plot ,const parabola_curve &curve, std::string label, bool svg)
{
try{
std::ostringstream function;
std::vector<double> points_begin;
std::vector<double> points_speed;
points_begin.reserve(curve.arcs.size());
points_speed.reserve(curve.arcs.size());
for (auto i : curve.arcs)
{
function << "((x>=" << i.second.begin << ")&&(x<" << i.second.end << "))? ";
function << "(2*("<< -i.second.slope << ")*(x-" << i.second.begin << ")+" << i.second.value << "**(2))**(1.0/2.0)";
function << ":";
points_begin.push_back(i.first);
points_speed.push_back(i.second.value);
}
function << "1/0" ;
if(svg)
{
plot << "set terminal svg fname 'Verdana' fsize 10 ";
plot << "set object 1 rect from screen 0, 0, 0 to screen 1, 1, 0 behind";
plot << "set object 1 rect fc rgb \"white\" fillstyle solid 1.0";
std::string output("set output '");
output += label;
output += ".svg'";
plot << output;
}
else
{
plot << "set term wxt";
}
plot.set_style("lines");
plot.set_yautoscale();
plot.set_xlabel("Position [m]");
plot.set_ylabel("Permitted Speed to brake for target [m/s]");
plot.plot_equation(function.str(),label);
if(svg)
plot.set_style("points lc -1 pt 7");
else
plot.set_style("points lc 7 pt 7");
plot.plot_xy(points_begin,points_speed,"Begin of Arcs");
}
catch (const GnuplotException & e) {
std::cout << "Error while plotting with Gnuplot (" << e.what() <<")" << std::endl;
}
}
void print_step_function(Gnuplot & plot , const step_function & function, std::string label,bool svg)
{
try{
std::ostringstream function_string;
auto i = function.step_values.begin();
auto j = ++function.step_values.begin();
for (;j != function.step_values.end();i++,j++)
{
function_string << "((x>=" << i->first << ")&&(x<" << j->first << "))? ";
function_string << i->second;
function_string << ":";
}
function_string << "((x>=" << i->first << ")&&(x<" << i->first + (i->first/10) << "))?";
function_string << i->second;
function_string << ": 1/0";
if(svg)
{
plot << "set terminal svg fname 'Verdana' fsize 10 ";
plot << "set object 1 rect from screen 0, 0, 0 to screen 1, 1, 0 behind";
plot << "set object 1 rect fc rgb \"white\" fillstyle solid 1.0";
std::string output("set output '");
output += label;
output += ".svg'";
plot << output;
}
else
{
plot << "set term wxt";
}
plot.set_style("fsteps");
plot.set_xrange(0,i->first + (i->first/10));
plot.set_yautoscale();
plot.set_xlabel("Position [m]");
plot.set_ylabel("Acceleration [m/s²]");
plot.plot_equation(function_string.str(),label);
}
catch (const GnuplotException & e) {
std::cout << "Error while plotting with Gnuplot (" << e.what() <<")" << std::endl;
}
}
