logging::graphing Namespace Reference

Namespace containing all global type/structs that will be used project wide for graphing and plotting data with matplotlib. These graphing functions are built to be as feature rich as possible while still being easy to use. More...

Classes
class	PathTracer
	The PathTracer class is used to trace the path of the rover and plot the path on a 2D graph. More...

Functions
void	PlotCoordinates2D (const std::vector< geoops::UTMCoordinate > &vCoordinates, const std::string &szTitle="UTMCoordinatePlot")
	Plot a 2D graph of UTM coordinates.
void	PlotCoordinates2D (const std::vector< geoops::GPSCoordinate > &vCoordinates, const std::string &szTitle="GPSCoordinatePlot")
	Plot a 2D graph of GPS coordinates.
void	PlotCoordinates2D (const std::vector< geoops::Waypoint > &vWaypoints, const std::string &szTitle="WaypointPlot")
	Plot a 2D graph of waypoints.
void	PlotCoordinates3D (const std::vector< geoops::UTMCoordinate > &vCoordinates, const std::string &szTitle="UTMCoordinatePlot")
	Plot a 3D graph of UTM coordinates.
void	PlotCoordinates3D (const std::vector< geoops::GPSCoordinate > &vCoordinates, const std::string &szTitle="GPSCoordinatePlot")
	Plot a 3D graph of GPS coordinates.
void	PlotCoordinates3D (const std::vector< geoops::Waypoint > &vWaypoints, const std::string &szTitle="WaypointPlot")
	Plot a 3D graph of waypoints.

Detailed Description

Namespace containing all global type/structs that will be used project wide for graphing and plotting data with matplotlib. These graphing functions are built to be as feature rich as possible while still being easy to use.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2025-01-08

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2025-01-07

Function Documentation

PlotCoordinates2D() [1/3]

void logging::graphing::PlotCoordinates2D ( const std::vector< geoops::UTMCoordinate > &  vCoordinates, const std::string &  szTitle = "UTMCoordinatePlot"  )

inline

Plot a 2D graph of UTM coordinates.

Parameters

vCoordinates	- The vector of UTM coordinates to plot.
szTitle	- The title of the plot. This will be the name of the file as well.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2025-01-07

        {
            // Create instance variables.
            std::string szPlotTitle       = szTitle;
            matplot::figure_handle mtPlot = matplot::figure(true);
            matplot::axes_handle mtAxes   = mtPlot->current_axes();
 
            // Check if the coordinates vector is empty.
            if (vCoordinates.empty())
            {
                // Submit logger message.
                LOG_WARNING(logging::g_qSharedLogger, "Coordinates vector is empty. Cannot plot.");
                return;
            }
            // Check if the plot title is empty.
            if (szPlotTitle.empty())
            {
                // Submit logger message.
                LOG_WARNING(logging::g_qSharedLogger, "Plot title is empty. Setting title to default.");
                szPlotTitle = "UTMCoordinatePlot";
            }
 
            // Check if a file with the same title name already exists. If so then append a number to the end of the file name and recheck.
            std::string szFileName = logging::g_szLoggingOutputPath + "/path_plots/" + szTitle;
            int nFileNum           = 0;
            while (std::filesystem::exists(szFileName + ".png"))
            {
                szFileName = szFileName + std::to_string(nFileNum);
                ++nFileNum;
            }
 
            // Check if the final directory exists. If not then create it.
            if (!std::filesystem::exists(logging::g_szLoggingOutputPath + "/path_plots"))
            {
                std::filesystem::create_directory(logging::g_szLoggingOutputPath + "/path_plots");
            }
            // Configure the matplotplusplus gnuplot backend to not display the plot, instead save it to a file.
            mtPlot->backend()->output(szFileName + ".png");
 
            // Use matplotplusplus to plot the UTM coordinates as red dots with blue lines connecting them.
            std::vector<double> vEasting, vNorthing;
            for (const geoops::UTMCoordinate& stCoordinate : vCoordinates)
            {
                vEasting.push_back(stCoordinate.dEasting);
                vNorthing.push_back(stCoordinate.dNorthing);
            }
            mtAxes->plot(vEasting, vNorthing, "-o");    // blue lines with red dots
            mtPlot->title(szPlotTitle);
            mtAxes->xlabel("Easting");
            mtAxes->ylabel("Northing");
            // Set axis options.
            mtAxes->grid(true);
            mtAxes->xtickangle(45);
            mtAxes->axis(matplot::square);
            mtAxes->xtickformat("%.0f");    // No decimal places for x-axis
            mtAxes->ytickformat("%.0f");    // No decimal places for y-axis
            // Set the hold to false.
            mtAxes->hold(false);
 
            // Calculate and annotate distances between points
            for (size_t i = 1; i < vCoordinates.size(); ++i)
            {
                double dDistance    = std::sqrt(std::pow(vCoordinates[i].dEasting - vCoordinates[i - 1].dEasting, 2) +
                                             std::pow(vCoordinates[i].dNorthing - vCoordinates[i - 1].dNorthing, 2));
                double dMidEasting  = (vCoordinates[i].dEasting + vCoordinates[i - 1].dEasting) / 2;
                double dMidNorthing = (vCoordinates[i].dNorthing + vCoordinates[i - 1].dNorthing) / 2;
                mtAxes->text(dMidEasting, dMidNorthing, std::to_string(int(dDistance)) + " m");
            }
 
            // Close the plot.
            mtPlot->save(szFileName + ".png");
        }

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PlotCoordinates2D() [2/3]

void logging::graphing::PlotCoordinates2D ( const std::vector< geoops::GPSCoordinate > &  vCoordinates, const std::string &  szTitle = "GPSCoordinatePlot"  )

inline

Plot a 2D graph of GPS coordinates.

Parameters

vCoordinates	- The vector of GPS coordinates to plot.
szTitle	- The title of the plot. This will be the name of the file as well.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2025-01-07

        {
            // Create instance variables.
            std::string szPlotTitle       = szTitle;
            matplot::figure_handle mtPlot = matplot::figure(true);
            matplot::axes_handle mtAxes   = mtPlot->current_axes();
 
            // Check if the coordinates vector is empty.
            if (vCoordinates.empty())
            {
                // Submit logger message.
                LOG_WARNING(logging::g_qSharedLogger, "Coordinates vector is empty. Cannot plot.");
                return;
            }
 
            // Check if the plot title is empty.
            if (szPlotTitle.empty())
            {
                // Submit logger message.
                LOG_WARNING(logging::g_qSharedLogger, "Plot title is empty. Setting title to default.");
                szPlotTitle = "GPSCoordinatePlot";
            }
 
            // Check if a file with the same title name already exists. If so then append a number to the end of the file name and recheck.
            std::string szFileName = logging::g_szLoggingOutputPath + "/path_plots/" + szTitle;
            int nFileNum           = 0;
            while (std::filesystem::exists(szFileName + ".png"))
            {
                szFileName = szFileName + std::to_string(nFileNum);
                ++nFileNum;
            }
 
            // Check if the final directory exists. If not then create it.
            if (!std::filesystem::exists(logging::g_szLoggingOutputPath + "/path_plots"))
            {
                std::filesystem::create_directory(logging::g_szLoggingOutputPath + "/path_plots");
            }
            // Configure the matplotplusplus gnuplot backend to not display the plot, instead save it to a file.
            mtPlot->backend()->output(szFileName + ".png");
 
            // Use matplotplusplus to plot the UTM coordinates as red dots with blue lines connecting them.
            std::vector<double> vLatitude, vLongitude;
            for (const geoops::GPSCoordinate& stCoordinate : vCoordinates)
            {
                vLatitude.push_back(stCoordinate.dLatitude);
                vLongitude.push_back(stCoordinate.dLongitude);
            }
            mtAxes->plot(vLatitude, vLongitude, "-o");    // blue lines with red dots
            mtPlot->title(szPlotTitle);
            mtAxes->xlabel("Latitude");
            mtAxes->ylabel("Longitude");
            // Set axis options.
            mtAxes->grid(true);
            mtAxes->xtickangle(45);
            mtAxes->axis(matplot::square);
            mtAxes->xtickformat("%.0f");    // No decimal places for x-axis
            mtAxes->ytickformat("%.0f");    // No decimal places for y-axis
            // Set the hold to false.
            mtAxes->hold(false);
 
            // Calculate and annotate distances between points
            for (size_t i = 1; i < vCoordinates.size(); ++i)
            {
                double dDistance     = geoops::CalculateGeoMeasurement(vCoordinates[i - 1], vCoordinates[i]).dDistanceMeters;
                double dMidLatitude  = (vCoordinates[i].dLatitude + vCoordinates[i - 1].dLatitude) / 2;
                double dMidLongitude = (vCoordinates[i].dLongitude + vCoordinates[i - 1].dLongitude) / 2;
                mtAxes->text(dMidLatitude, dMidLongitude, std::to_string(int(dDistance)) + " m");
            }
 
            // Close the plot.
            mtPlot->save(szFileName + ".png");
        }

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PlotCoordinates2D() [3/3]

void logging::graphing::PlotCoordinates2D ( const std::vector< geoops::Waypoint > &  vWaypoints, const std::string &  szTitle = "WaypointPlot"  )

inline

Plot a 2D graph of waypoints.

Parameters

vWaypoints	- The vector of waypoints to plot.
szTitle	- The title of the plot. This will be the name of the file as well.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2025-01-07

        {
            // Create instance variables.
            std::string szPlotTitle       = szTitle;
            matplot::figure_handle mtPlot = matplot::figure(true);
            matplot::axes_handle mtAxes   = mtPlot->current_axes();
 
            // Check if the coordinates vector is empty.
            if (vWaypoints.empty())
            {
                // Submit logger message.
                LOG_WARNING(logging::g_qSharedLogger, "Waypoints vector is empty. Cannot plot.");
                return;
            }
 
            // Check if the plot title is empty.
            if (szPlotTitle.empty())
            {
                // Submit logger message.
                LOG_WARNING(logging::g_qSharedLogger, "Plot title is empty. Setting title to default.");
                szPlotTitle = "WaypointPlot";
            }
 
            // Check if a file with the same title name already exists. If so then append a number to the end of the file name and recheck.
            std::string szFileName = logging::g_szLoggingOutputPath + "/path_plots/" + szTitle;
            int nFileNum           = 0;
            while (std::filesystem::exists(szFileName + ".png"))
            {
                szFileName = szFileName + std::to_string(nFileNum);
                ++nFileNum;
            }
 
            // Check if the final directory exists. If not then create it.
            if (!std::filesystem::exists(logging::g_szLoggingOutputPath + "/path_plots"))
            {
                std::filesystem::create_directory(logging::g_szLoggingOutputPath + "/path_plots");
            }
            // Configure the matplotplusplus gnuplot backend to not display the plot, instead save it to a file.
            mtPlot->backend()->output(szFileName + ".png");
 
            // Use matplotplusplus to plot the UTM coordinates as red dots with blue lines connecting them.
            std::vector<double> vEasting, vNorthing;
            for (const geoops::Waypoint& stWaypoint : vWaypoints)
            {
                vEasting.push_back(stWaypoint.GetUTMCoordinate().dEasting);
                vNorthing.push_back(stWaypoint.GetUTMCoordinate().dNorthing);
            }
            mtAxes->plot(vEasting, vNorthing, "-o");
            mtPlot->title(szPlotTitle);
            mtAxes->xlabel("Easting");
            mtAxes->ylabel("Northing");
            // Set axis options.
            mtAxes->grid(true);
            mtAxes->xtickangle(45);
            mtAxes->axis(matplot::square);
            mtAxes->xtickformat("%.0f");    // No decimal places for x-axis
            mtAxes->ytickformat("%.0f");    // No decimal places for y-axis
            // Set the hold to false.
            mtAxes->hold(false);
 
            // Calculate and annotate distances between points.
            for (size_t i = 1; i < vWaypoints.size(); ++i)
            {
                double dDistance    = geoops::CalculateGeoMeasurement(vWaypoints[i - 1].GetUTMCoordinate(), vWaypoints[i].GetUTMCoordinate()).dDistanceMeters;
                double dMidEasting  = (vWaypoints[i].GetUTMCoordinate().dEasting + vWaypoints[i - 1].GetUTMCoordinate().dEasting) / 2;
                double dMidNorthing = (vWaypoints[i].GetUTMCoordinate().dNorthing + vWaypoints[i - 1].GetUTMCoordinate().dNorthing) / 2;
                mtAxes->text(dMidEasting, dMidNorthing, std::to_string(int(dDistance)) + " m");
            }
 
            // Close the plot.
            mtPlot->save(szFileName + ".png");
        }

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PlotCoordinates3D() [1/3]

void logging::graphing::PlotCoordinates3D ( const std::vector< geoops::UTMCoordinate > &  vCoordinates, const std::string &  szTitle = "UTMCoordinatePlot"  )

inline

Plot a 3D graph of UTM coordinates.

Parameters

vCoordinates	- The vector of UTM coordinates to plot.
szTitle	- The title of the plot. This will be the name of the file as well.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2025-01-08

        {
            // Create instance variables.
            std::string szPlotTitle       = szTitle;
            matplot::figure_handle mtPlot = matplot::figure(true);
            matplot::axes_handle mtAxes   = mtPlot->current_axes();
 
            // Check if the coordinates vector is empty.
            if (vCoordinates.empty())
            {
                // Submit logger message.
                LOG_WARNING(logging::g_qSharedLogger, "Coordinates vector is empty. Cannot plot.");
                return;
            }
 
            // Check if the plot title is empty.
            if (szPlotTitle.empty())
            {
                // Submit logger message.
                LOG_WARNING(logging::g_qSharedLogger, "Plot title is empty. Setting title to default.");
                szPlotTitle = "UTMCoordinatePlot";
            }
 
            // Check if a file with the same title name already exists. If so then append a number to the end of the file name and recheck.
            std::string szFileName = logging::g_szLoggingOutputPath + "/path_plots/" + szTitle;
            int nFileNum           = 0;
            while (std::filesystem::exists(szFileName + ".png"))
            {
                szFileName = szFileName + std::to_string(nFileNum);
                ++nFileNum;
            }
 
            // Check if the final directory exists. If not then create it.
            if (!std::filesystem::exists(logging::g_szLoggingOutputPath + "/path_plots"))
            {
                std::filesystem::create_directory(logging::g_szLoggingOutputPath + "/path_plots");
            }
            // Configure the matplotplusplus gnuplot backend to not display the plot, instead save it to a file.
            mtPlot->backend()->output(szFileName + ".png");
 
            // Use matplotplusplus to plot the UTM coordinates as red dots with blue lines connecting them.
            std::vector<double> vEasting, vNorthing, vAltitude;
            for (const geoops::UTMCoordinate& stCoordinate : vCoordinates)
            {
                vEasting.push_back(stCoordinate.dEasting);
                vNorthing.push_back(stCoordinate.dNorthing);
                vAltitude.push_back(stCoordinate.dAltitude);
            }
            // Create a 3D plot
            mtAxes->plot3(vEasting, vNorthing, vAltitude, "-o");
            mtPlot->title(szPlotTitle);
            mtAxes->xlabel("Easting");
            mtAxes->ylabel("Northing");
            mtAxes->zlabel("Altitude");
            // Set axis options.
            mtAxes->grid(true);
            mtAxes->xtickangle(45);
            mtAxes->axis(matplot::square);
            mtAxes->xtickformat("%.0f");    // No decimal places for x-axis
            mtAxes->ytickformat("%.0f");    // No decimal places for y-axis
            mtAxes->ztickformat("%.0f");    // No decimal places for z-axis
            // Set the hold to false.
            mtAxes->hold(false);
 
            // Close the plot.
            mtPlot->save(szFileName + ".png");
        }

PlotCoordinates3D() [2/3]

void logging::graphing::PlotCoordinates3D ( const std::vector< geoops::GPSCoordinate > &  vCoordinates, const std::string &  szTitle = "GPSCoordinatePlot"  )

inline

Plot a 3D graph of GPS coordinates.

Parameters

vCoordinates	- The vector of GPS coordinates to plot.
szTitle	- The title of the plot. This will be the name of the file as well.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2025-01-08

        {
            // Create instance variables.
            std::string szPlotTitle       = szTitle;
            matplot::figure_handle mtPlot = matplot::figure(true);
            matplot::axes_handle mtAxes   = mtPlot->current_axes();
 
            // Check if the coordinates vector is empty.
            if (vCoordinates.empty())
            {
                // Submit logger message.
                LOG_WARNING(logging::g_qSharedLogger, "Coordinates vector is empty. Cannot plot.");
                return;
            }
 
            // Check if the plot title is empty.
            if (szPlotTitle.empty())
            {
                // Submit logger message.
                LOG_WARNING(logging::g_qSharedLogger, "Plot title is empty. Setting title to default.");
                szPlotTitle = "GPSCoordinatePlot";
            }
 
            // Check if a file with the same title name already exists. If so then append a number to the end of the file name and recheck.
            std::string szFileName = logging::g_szLoggingOutputPath + "/path_plots/" + szTitle;
            int nFileNum           = 0;
            while (std::filesystem::exists(szFileName + ".png"))
            {
                szFileName = szFileName + std::to_string(nFileNum);
                ++nFileNum;
            }
 
            // Check if the final directory exists. If not then create it.
            if (!std::filesystem::exists(logging::g_szLoggingOutputPath + "/path_plots"))
            {
                std::filesystem::create_directory(logging::g_szLoggingOutputPath + "/path_plots");
            }
            // Configure the matplotplusplus gnuplot backend to not display the plot, instead save it to a file.
            mtPlot->backend()->output(szFileName + ".png");
 
            // Use matplotplusplus to plot the UTM coordinates as red dots with blue lines connecting them.
            std::vector<double> vLatitude, vLongitude, vAltitude;
            for (const geoops::GPSCoordinate& stCoordinate : vCoordinates)
            {
                vLatitude.push_back(stCoordinate.dLatitude);
                vLongitude.push_back(stCoordinate.dLongitude);
                vAltitude.push_back(stCoordinate.dAltitude);
            }
            // Create a 3D plot
            mtAxes->plot3(vLatitude, vLongitude, vAltitude, "-o");
            mtPlot->title(szPlotTitle);
            mtAxes->xlabel("Latitude");
            mtAxes->ylabel("Longitude");
            mtAxes->zlabel("Altitude");
            // Set axis options.
            mtAxes->grid(true);
            mtAxes->xtickangle(45);
            mtAxes->axis(matplot::square);
            mtAxes->xtickformat("%.0f");    // No decimal places for x-axis
            mtAxes->ytickformat("%.0f");    // No decimal places for y-axis
            mtAxes->ztickformat("%.0f");    // No decimal places for z-axis
            // Set the hold to false.
            mtAxes->hold(false);
 
            // Close the plot.
            mtPlot->save(szFileName + ".png");
        }

PlotCoordinates3D() [3/3]

void logging::graphing::PlotCoordinates3D ( const std::vector< geoops::Waypoint > &  vWaypoints, const std::string &  szTitle = "WaypointPlot"  )

inline

Plot a 3D graph of waypoints.

Parameters

vWaypoints	- The vector of waypoints to plot.
szTitle	- The title of the plot. This will be the name of the file as well.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2025-01-08

        {
            // Create instance variables.
            std::string szPlotTitle       = szTitle;
            matplot::figure_handle mtPlot = matplot::figure(true);
            matplot::axes_handle mtAxes   = mtPlot->current_axes();
 
            // Check if the coordinates vector is empty.
            if (vWaypoints.empty())
            {
                // Submit logger message.
                LOG_WARNING(logging::g_qSharedLogger, "Waypoints vector is empty. Cannot plot.");
                return;
            }
 
            // Check if the plot title is empty.
            if (szPlotTitle.empty())
            {
                // Submit logger message.
                LOG_WARNING(logging::g_qSharedLogger, "Plot title is empty. Setting title to default.");
                szPlotTitle = "WaypointPlot";
            }
 
            // Check if a file with the same title name already exists. If so then append a number to the end of the file name and recheck.
            std::string szFileName = logging::g_szLoggingOutputPath + "/path_plots/" + szTitle;
            int nFileNum           = 0;
            while (std::filesystem::exists(szFileName + ".png"))
            {
                szFileName = szFileName + std::to_string(nFileNum);
                ++nFileNum;
            }
 
            // Check if the final directory exists. If not then create it.
            if (!std::filesystem::exists(logging::g_szLoggingOutputPath + "/path_plots"))
            {
                std::filesystem::create_directory(logging::g_szLoggingOutputPath + "/path_plots");
            }
            // Configure the matplotplusplus gnuplot backend to not display the plot, instead save it to a file.
            mtPlot->backend()->output(szFileName + ".png");
 
            // Use matplotplusplus to plot the UTM coordinates as red dots with blue lines connecting them.
            std::vector<double> vEasting, vNorthing, vAltitude;
            for (const geoops::Waypoint& stWaypoint : vWaypoints)
            {
                vEasting.push_back(stWaypoint.GetUTMCoordinate().dEasting);
                vNorthing.push_back(stWaypoint.GetUTMCoordinate().dNorthing);
                vAltitude.push_back(stWaypoint.GetUTMCoordinate().dAltitude);
            }
            // Create a 3D plot
            mtAxes->plot3(vEasting, vNorthing, vAltitude, "-o");
            mtPlot->title(szPlotTitle);
            mtAxes->xlabel("Easting");
            mtAxes->ylabel("Northing");
            mtAxes->zlabel("Altitude");
            // Set axis options.
            mtAxes->grid(true);
            mtAxes->xtickangle(45);
            mtAxes->axis(matplot::square);
            mtAxes->xtickformat("%.0f");    // No decimal places for x-axis
            mtAxes->ytickformat("%.0f");    // No decimal places for y-axis
            mtAxes->ztickformat("%.0f");    // No decimal places for z-axis
            // Set the hold to false.
            mtAxes->hold(false);
 
            // Close the plot.
            mtPlot->save(szFileName + ".png");
        }