// Меняем местами положение кубов (в том числе и в массиве целей)
void TEnkiEnvironment::swapCubesForColors(double r1, double g1, double b1, double r2, double g2, double b2) {
// Находим кубы в массиве объектов ENKI по их цвету, а затем перекрашиваем их
std::set<Enki::PhysicalObject *>objects = world->objects;
std::set<Enki::PhysicalObject *>::iterator someObject;
for (someObject=objects.begin(); someObject!=objects.end(); ++someObject) {
Enki::PhysicalObject * actualObject = *someObject;
Enki::Color color;
color = actualObject->getColor();
if ((color.components[0] == r1) && (color.components[1] == g1) && (color.components[2] == b1)) {
color.components[0] = r2;
color.components[1] = g2;
color.components[2] = b2;
actualObject->setColor(color);
cout << "found first cube" << std::endl;
} else if ((color.components[0] == r2) && (color.components[1] == g2) && (color.components[2] == b2)) {
color.components[0] = r1;
color.components[1] = g1;
color.components[2] = b1;
actualObject->setColor(color);
cout << "found second cube" << std::endl;
}
}
// Находим кубы в массиве объектов среды (который служит для определения достижения целей) и меняем их в нем местами
/*int firstIndexToSwap = 0;
int secondIndexToSwap = 0;
for (int i=0; i<objectsArray.size(); i++) {
TEnkiObject someEnkiObject = objectsArray[i];
if ((someEnkiObject.color[0]/255.0 == r1) && (someEnkiObject.color[1]/255.0 == g1) && (someEnkiObject.color[2]/255.0 == b1)) {
firstIndexToSwap = i;
} else if ((someEnkiObject.color[0]/255.0 == r2) && (someEnkiObject.color[1]/255.0 == g2) && (someEnkiObject.color[2]/255.0 == b2)) {
secondIndexToSwap = i;
}
}
TEnkiObject storedObject = objectsArray.at(firstIndexToSwap);
objectsArray.at(firstIndexToSwap) = objectsArray.at(secondIndexToSwap);
objectsArray.at(secondIndexToSwap) = storedObject;*/
}
void TEnkiEnvironment::makeGnuplotScriptAndRunIt(std::string graphFilename, double xmin, double xmax, double ymin, double ymax) {
// Чтобы замкнуть линии в гнуплоте
std::set<Enki::PhysicalObject *>objects = world->objects;
std::set<Enki::PhysicalObject *>::iterator someObject;
for (someObject=objects.begin(); someObject!=objects.end(); ++someObject) {
Enki::PhysicalObject * actualObject = *someObject;
if (actualObject != ePuckBot) {
ofstream objectsFile;
stringstream buf;
buf << "C:/enki-log-files/gnuplotObjects" << actualObject->objectNumber << ".txt";
objectsFile.open(buf.str().c_str());
objectsFile << actualObject->pos.x-cubeSize/2.0 << "\t" << actualObject->pos.y-cubeSize/2.0 << std::endl;
objectsFile << actualObject->pos.x-cubeSize/2.0 << "\t" << actualObject->pos.y+cubeSize/2.0 << std::endl;
objectsFile << actualObject->pos.x+cubeSize/2.0 << "\t" << actualObject->pos.y+cubeSize/2.0 << std::endl;
objectsFile << actualObject->pos.x+cubeSize/2.0 << "\t" << actualObject->pos.y-cubeSize/2.0 << std::endl;
objectsFile << actualObject->pos.x-cubeSize/2.0 << "\t" << actualObject->pos.y-cubeSize/2.0 << std::endl;
objectsFile.close();
}
}
ofstream gnuplotGraphFile;
gnuplotGraphFile.open((graphFilename).c_str());
gnuplotGraphFile << "set terminal pdf size 10cm," << 10*(ymax-ymin)/(xmax-xmin) << "cm font 'Times-New-Roman,5'" << std::endl;
gnuplotGraphFile << "set output '" << graphFilename << ".pdf'" << std::endl;
gnuplotGraphFile << "set xtics " << static_cast<int>(xmin) <<",50," << static_cast<int>(xmax) << std::endl;
gnuplotGraphFile << "set ytics " << static_cast<int>(ymin) <<",50," << static_cast<int>(ymax) << std::endl;
gnuplotGraphFile << "set mxtics 5\nset mytics 5" << std::endl;
gnuplotGraphFile << "set grid xtics ytics mytics mxtics lt 1 lw 1 linecolor rgb \"gray\"" << std::endl;
gnuplotGraphFile << "set palette defined ( 0 \"#660099\", 1 \"#0000CC\", 2 \"#3399FF\", 3 \"#00CC00\", 4 \"#FFFF33\", 5 \"#FF6600\", 6 \"#CC0000\" )" << std::endl;
gnuplotGraphFile << "unset colorbox" << std::endl;
std::string objectsColorsStrings[10];
for (someObject=objects.begin(); someObject!=objects.end(); ++someObject) {
Enki::PhysicalObject * actualObject = *someObject;
if (actualObject->objectNumber >= 0) {
const Enki::Color objectColor = actualObject->getColor();
std::string rColor = "00";
if (objectColor.components[0] == 1.0) {
rColor = "FF";
}
std::string gColor = "00";
if (objectColor.components[1] == 1.0) {
gColor = "FF";
}
std::string bColor = "00";
if (objectColor.components[2] == 1.0) {
bColor = "FF";
}
objectsColorsStrings[actualObject->objectNumber] = "#" + rColor + gColor + bColor;
/*if ((objectColor.components[0] == 1.0) && (objectColor.components[1] == 0.0) && (objectColor.components[2] == 0.0)) {
objectsColorsStrings[actualObject->objectNumber] = "red";
} else if ((objectColor.components[0] == 1.0) && (objectColor.components[1] == 1.0) && (objectColor.components[2] == 0.0)) {
objectsColorsStrings[actualObject->objectNumber] = "yellow";
} else if ((objectColor.components[0] == 0.0) && (objectColor.components[1] == 1.0) && (objectColor.components[2] == 0.0)) {
objectsColorsStrings[actualObject->objectNumber] = "green";
} else if ((objectColor.components[0] == 0.0) && (objectColor.components[1] == 0.0) && (objectColor.components[2] == 1.0)) {
objectsColorsStrings[actualObject->objectNumber] = "blue";
}*/
}
}
gnuplotGraphFile << "plot " << "[" << static_cast<int>(xmin) << ":" << static_cast<int>(xmax) << "] "
<< "[" << static_cast<int>(ymin) << ":" << static_cast<int>(ymax) << "] "
<< "'" << gnuplotOutputString << "'" << " u 1:2:(0.2):3 with circles palette notitle, ";
for (int i = 0; i < 10; i++) {
if (objectsColorsStrings[i].length()) {
if (i>=1) {
gnuplotGraphFile << ", ";
}
gnuplotGraphFile << "'C:/enki-log-files/gnuplotObjects" << i << ".txt' with filledcurves notitle linecolor rgb \"" << objectsColorsStrings[i].c_str() << "\"";
} else {
break;
}
}
gnuplotGraphFile << std::endl;
/*<< "'C:/enki-log-files/gnuplotObjects1.txt' with filledcurves notitle linecolor rgb \"" << objectsColorsStrings[0] << "\", "
<< "'C:/enki-log-files/gnuplotObjects2.txt' with filledcurves notitle linecolor rgb \"" << objectsColorsStrings[1] << "\", "
<< "'C:/enki-log-files/gnuplotObjects3.txt' with filledcurves notitle linecolor rgb \"" << objectsColorsStrings[2] << "\", "
<< "'C:/enki-log-files/gnuplotObjects4.txt' with filledcurves notitle linecolor rgb \"" << objectsColorsStrings[3] << "\", " << std::endl;*/
//gnuplotGraphFile << "__EOF" << std::endl;
gnuplotGraphFile.close();
//system(("chmod +x "+graphFilename+".sh").c_str());
system(("gnuplot "+graphFilename).c_str());
}
