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BEAST-351: Add dynamic interval adjustment to Plotter. Improve variable
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naming and remove some garbage in Plotter. Work on graphing Beast data.
Add unit test to formatting tools.
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@calvertdw
calvertdw committed Aug 10, 2016
1 parent b873816 commit 0b09cf8
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Showing 4 changed files with 51 additions and 54 deletions.
4 changes: 2 additions & 2 deletions IHMCJavaToolkit/src/us/ihmc/tools/FormattingTools.java
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Original file line number Diff line number Diff line change
Expand Up @@ -42,8 +42,8 @@ public static double roundToSignificantFigures(double number, int significantFig
return 0;
}

final double d = Math.ceil(Math.log10(number < 0 ? -number : number));
final int power = significantFigures - (int) d;
final double log10 = Math.ceil(Math.log10(Math.abs(number)));
final int power = significantFigures - (int) log10;

final double magnitude = Math.pow(10, power);
final long shifted = Math.round(number * magnitude);
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10 changes: 9 additions & 1 deletion IHMCJavaToolkit/test/us/ihmc/tools/FormattingToolsTest.java
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Original file line number Diff line number Diff line change
@@ -1,11 +1,11 @@
package us.ihmc.tools;

import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertTrue;

import org.apache.commons.lang3.StringUtils;
import org.junit.Test;

import us.ihmc.tools.FormattingTools;
import us.ihmc.tools.testing.TestPlanAnnotations.DeployableTestMethod;

public class FormattingToolsTest
Expand Down Expand Up @@ -74,5 +74,13 @@ public void testUnderScoredToCamelCase()

resultingFormattedString = FormattingTools.underscoredToCamelCase("1234_@$%_BCDF", true);
assertTrue(resultingFormattedString.equals("1234@$%Bcdf"));
}

@DeployableTestMethod(estimatedDuration = 0.1)
@Test(timeout = 30000)
public void testFormatToSignificantFigures()
{
assertEquals("not equal", 100, FormattingTools.roundToSignificantFigures(123.45, 1), 1e-12);
assertEquals("not equal", 120, FormattingTools.roundToSignificantFigures(123.45, 2), 1e-12);
}
}
5 changes: 4 additions & 1 deletion ...adrupedRobotics/controller/force/speedTorqueLimits/QuadrupedSpeedTorqueLimitGraphing.java
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
import us.ihmc.quadrupedRobotics.QuadrupedTestGoals;
import us.ihmc.quadrupedRobotics.controller.QuadrupedControlMode;
import us.ihmc.quadrupedRobotics.simulation.QuadrupedGroundContactModelType;
import us.ihmc.simulationconstructionset.SimulationConstructionSet;
import us.ihmc.simulationconstructionset.util.simulationRunner.GoalOrientedTestConductor;
import us.ihmc.tools.thread.ThreadTools;

Expand All @@ -21,7 +22,7 @@ public abstract class QuadrupedSpeedTorqueLimitGraphing implements QuadrupedMult
private QuadrupedForceTestYoVariables variables;
private PushRobotTestConductor pusher;

public void createSimulation() throws IOException
public SimulationConstructionSet createSimulation() throws IOException
{
QuadrupedTestFactory testFactory = createQuadrupedTestFactory();
testFactory.setControlMode(QuadrupedControlMode.FORCE);
Expand All @@ -31,6 +32,8 @@ public void createSimulation() throws IOException
conductor = testFactory.createTestConductor();
variables = new QuadrupedForceTestYoVariables(conductor.getScs());
pusher = new PushRobotTestConductor(conductor.getScs(), "body");

return conductor.getScs();
}

public void trotAroundSuperAggressively()
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86 changes: 36 additions & 50 deletions Plotting/src/us/ihmc/plotting/Plotter.java
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Original file line number Diff line number Diff line change
Expand Up @@ -5,11 +5,10 @@
import java.awt.Dimension;
import java.awt.Graphics;
import java.awt.Graphics2D;
import java.awt.Point;
import java.awt.Rectangle;
import java.awt.event.MouseEvent;
import java.awt.event.WindowAdapter;
import java.awt.event.WindowEvent;
import java.awt.geom.Point2D;
import java.awt.image.BufferedImage;
import java.util.ArrayList;
import java.util.HashMap;
Expand All @@ -32,6 +31,8 @@

public class Plotter extends JPanel
{
private static final boolean SHOW_LABELS_BY_DEFAULT = false;

private static final long serialVersionUID = 3113130298799362369L;

private final ArrayList<ArtifactsChangedListener> artifactsChangedListeners = new ArrayList<ArtifactsChangedListener>();
Expand All @@ -41,7 +42,7 @@ public class Plotter extends JPanel
private static final Color TEXT_COLOR = Color.WHITE;

private boolean drawHistory = false;
private boolean showLabels = false;
private boolean showLabels = SHOW_LABELS_BY_DEFAULT;

private long updateDelayInMillis = 0;
private long lastUpdate = 0;
Expand All @@ -51,12 +52,14 @@ public class Plotter extends JPanel
private Dimension preferredSize = new Dimension(275, 275);
private final HashMap<String, Artifact> artifacts = new HashMap<String, Artifact>();

private Rectangle visibleRectangle = new Rectangle();

private int centerX;
private int centerY;
private double offsetX = 0.0;
private double offsetY = 0.0;
private double plotRange = 20.0;
private double scaleFactor;
private double metersToPixels;
private double upperLeftLongitude, upperLeftLatitude, lowerRightLongitude, lowerRightLatitude;
private double selectedX = 0.0;
private double selectedY = 0.0;
Expand Down Expand Up @@ -115,18 +118,18 @@ public void paintComponent(Graphics graphics)
Graphics2D graphics2d = (Graphics2D) graphics;

// get current size and determine scaling factor
Dimension panelSize = this.getSize();
int heightInPixels = (int) Math.round(panelSize.getHeight());
int widthInPixels = (int) Math.round(panelSize.getWidth());
computeVisibleRect(visibleRectangle);
int heightInPixels = (int) Math.round(visibleRectangle.getHeight());
int widthInPixels = (int) Math.round(visibleRectangle.getWidth());
centerX = widthInPixels / 2;
centerY = heightInPixels / 2;
scaleFactor = heightInPixels / plotRange;
metersToPixels = heightInPixels / plotRange;

double headingOffset = 0.0;

// set current offset
centerX = centerX - (int) Math.round(offsetX * scaleFactor);
centerY = centerY + (int) Math.round(offsetY * scaleFactor);
centerX = centerX - (int) Math.round(offsetX * metersToPixels);
centerY = centerY + (int) Math.round(offsetY * metersToPixels);

// paint background
super.paintComponent(graphics2d);
Expand All @@ -140,7 +143,7 @@ public void paintComponent(Graphics graphics)
{
if (artifact.getLevel() == 86)
{
artifact.draw(graphics2d, centerX, centerY, headingOffset, scaleFactor);
artifact.draw(graphics2d, centerX, centerY, headingOffset, metersToPixels);
}
}
else
Expand Down Expand Up @@ -170,7 +173,7 @@ public void paintComponent(Graphics graphics)
else
{
// change grid line scale from 1m to 10cm ehn below 10m
double interval = Math.pow(10, MathTools.orderOfMagnitude(plotRange) - 1);
double interval = Math.pow(10, MathTools.orderOfMagnitude(25.0 / metersToPixels) + 1);

if (overrideAutomaticInterval)
{
Expand Down Expand Up @@ -277,7 +280,7 @@ else if ((i + yCountOffset) % 5 == 0)
{
if (artifact.getDrawHistory() && (artifact.getLevel() == i))
{
artifact.drawHistory(graphics2d, centerX, centerY, scaleFactor);
artifact.drawHistory(graphics2d, centerX, centerY, metersToPixels);
}
}
else
Expand All @@ -302,7 +305,7 @@ else if ((i + yCountOffset) % 5 == 0)
{
if (artifact.getLevel() == i)
{
artifact.draw(graphics2d, centerX, centerY, headingOffset, scaleFactor); // , _orientation);
artifact.draw(graphics2d, centerX, centerY, headingOffset, metersToPixels); // , _orientation);
}
}
else
Expand All @@ -318,8 +321,8 @@ else if ((i + yCountOffset) % 5 == 0)
{
graphics2d.setColor(Color.red);
int xSize = 8;
int xX = centerX + ((int) Math.round(selectedX * scaleFactor));
int yX = centerY - ((int) Math.round(selectedY * scaleFactor));
int xX = centerX + ((int) Math.round(selectedX * metersToPixels));
int yX = centerY - ((int) Math.round(selectedY * metersToPixels));
graphics2d.drawLine(xX - xSize, yX - xSize, xX + xSize, yX + xSize);
graphics2d.drawLine(xX - xSize, yX + xSize, xX + xSize, yX - xSize);
}
Expand All @@ -328,10 +331,10 @@ else if ((i + yCountOffset) % 5 == 0)
if (SHOW_SELECTION)
{
graphics2d.setColor(Color.red);
int areaX1Int = centerX + ((int) Math.round(area1X * scaleFactor));
int areaY1Int = centerY - ((int) Math.round(area1Y * scaleFactor));
int areaX2Int = centerX + ((int) Math.round(area2X * scaleFactor));
int areaY2Int = centerY - ((int) Math.round(area2Y * scaleFactor));
int areaX1Int = centerX + ((int) Math.round(area1X * metersToPixels));
int areaY1Int = centerY - ((int) Math.round(area1Y * metersToPixels));
int areaX2Int = centerX + ((int) Math.round(area2X * metersToPixels));
int areaY2Int = centerY - ((int) Math.round(area2Y * metersToPixels));
int Xmin, Xmax, Ymin, Ymax;
if (areaX1Int > areaX2Int)
{
Expand Down Expand Up @@ -581,46 +584,24 @@ public void clearPolygon()
repaint();
}

@SuppressWarnings("unused")
private Point convertCoordinates(JPanel plot, Point2D.Double pt)
{
// get current size and determine scaling factor
Dimension d = this.getSize();
int h = (int) Math.round(d.getHeight());
Math.round(d.getWidth());

scaleFactor = h / plotRange;

// detemine plot size
Dimension plotD = plot.getSize();
int plotH = (int) Math.round(plotD.getHeight());
int plotW = (int) Math.round(plotD.getWidth());

// place plot so bottom is cenetered at location
int xnew = (int) Math.round((pt.x * scaleFactor) - (plotW / 2));
int ynew = (int) Math.round((h - (pt.y * scaleFactor)) - (plotH));

return new Point(xnew, ynew);
}

private double unConvertXCoordinate(int coordinate)
{
return new Integer(coordinate - centerX).doubleValue() / scaleFactor;
return new Integer(coordinate - centerX).doubleValue() / metersToPixels;
}

private double unConvertYCoordinate(int coordinate)
{
return new Integer((centerY - coordinate)).doubleValue() / scaleFactor;
return new Integer((centerY - coordinate)).doubleValue() / metersToPixels;
}

private Coordinate convertFromMetersToPixels(Coordinate coordinate)
{
double x = coordinate.getX();
double y = coordinate.getY();

x = new Double(centerX + ((int) Math.round(x * scaleFactor))).doubleValue();
x = new Double(centerX + ((int) Math.round(x * metersToPixels))).doubleValue();

y = new Double(centerY - ((int) Math.round(y * scaleFactor))).doubleValue();
y = new Double(centerY - ((int) Math.round(y * metersToPixels))).doubleValue();

return new Coordinate(x, y, Coordinate.PIXEL);
}
Expand All @@ -630,9 +611,9 @@ private Coordinate convertFromPixelsToMeters(Coordinate coordinate)
double x = coordinate.getX();
double y = coordinate.getY();

x = (x - new Integer(centerX).doubleValue()) / scaleFactor;
x = (x - new Integer(centerX).doubleValue()) / metersToPixels;

y = ((new Integer(centerY).doubleValue()) - y) / scaleFactor;
y = ((new Integer(centerY).doubleValue()) - y) / metersToPixels;

return new Coordinate(x, y, Coordinate.METER);
}
Expand Down Expand Up @@ -692,7 +673,7 @@ public Dimension getPreferredSize()

public void setPreferredSize(int width, int height)
{
preferredSize = new Dimension(width, height);
preferredSize.setSize(width, height);
}

public void setDoubleClickListener(DoubleClickListener doubleClickListener)
Expand Down Expand Up @@ -867,7 +848,12 @@ public void mouseReleased(MouseEvent e)

public void showInNewWindow()
{
JFrame frame = new JFrame("Plotter");
showInNewWindow("Plotter");
}

public void showInNewWindow(String title)
{
JFrame frame = new JFrame(title);
frame.getContentPane().add(this, BorderLayout.CENTER);
frame.pack();
frame.setVisible(true);
Expand Down

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