From 2a647a2446a41171b847820133f1b78171616803 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Wed, 19 Jan 2022 22:55:42 +0100
Subject: [PATCH] Extend gen plot for parking slot

---
 incl/bcar.hh           |  3 +++
 incl/pslot.hh          |  3 +++
 src/bcar.cc            |  8 ++++++++
 src/gen_for_gnuplot.cc | 24 ++++++++++++++++++++++--
 src/pslot.cc           |  8 ++++++++
 5 files changed, 44 insertions(+), 2 deletions(-)

diff --git a/incl/bcar.hh b/incl/bcar.hh
index f5ca928..c2265a5 100644
--- a/incl/bcar.hh
+++ b/incl/bcar.hh
@@ -144,6 +144,9 @@ public:
 
 	double h() const;
 
+	/*! Generate output for plotting with gnuplot. */
+	void gen_gnuplot_to(std::ostream& out);
+
 	friend std::ostream& operator<<(std::ostream& out, Line const& li);
 };
 
diff --git a/incl/pslot.hh b/incl/pslot.hh
index 843d9f9..fbadd41 100644
--- a/incl/pslot.hh
+++ b/incl/pslot.hh
@@ -161,6 +161,9 @@ public:
 	 */
 	PoseRange recompute_entry(PoseRange p);
 
+	/*! Generate output for plotting with gnuplot. */
+	void gen_gnuplot_to(std::ostream& out);
+
 	friend std::ostream& operator<<(std::ostream& o, ParkingSlot const& s);
 };
 
diff --git a/src/bcar.cc b/src/bcar.cc
index 6f6f77e..4c8307c 100644
--- a/src/bcar.cc
+++ b/src/bcar.cc
@@ -270,6 +270,14 @@ Line::h() const
 	return atan2(this->_e.y() - this->_b.y(), this->_e.x() - this->_b.x());
 }
 
+void
+Line::gen_gnuplot_to(std::ostream& out)
+{
+	this->b().gen_gnuplot_to(out);
+	this->e().gen_gnuplot_to(out);
+	out << std::endl;
+}
+
 std::ostream&
 operator<<(std::ostream& out, Line const& li)
 {
diff --git a/src/gen_for_gnuplot.cc b/src/gen_for_gnuplot.cc
index d719e06..a2b02e4 100644
--- a/src/gen_for_gnuplot.cc
+++ b/src/gen_for_gnuplot.cc
@@ -67,7 +67,20 @@ public:
 };
 
 void
-gen_pl_script(std::vector<M>& ms)
+gpl_slot(bcar::ParkingSlot& s, std::string fn)
+{
+	if (fn.compare("") == 0) {
+		return;
+	}
+	using namespace std;
+	ofstream f;
+	f.open(fn);
+	s.gen_gnuplot_to(f);
+	f.close();
+}
+
+void
+gen_pl_script(std::vector<M>& ms, std::string with_slot)
 {
 	using namespace std;
 	ofstream f;
@@ -78,6 +91,9 @@ gen_pl_script(std::vector<M>& ms)
 	for (auto& m: ms) {
 		f << " '" << m.fn << "'" << " w l,";
 	}
+	if (with_slot.compare("") != 0) {
+		f << " '" << with_slot << "' w l";
+	}
 	f << endl;
 	f << "pause -1" << endl;
 	f.close();
@@ -90,6 +106,10 @@ main()
 	cout << fixed;
 	cerr << fixed;
 
+	bcar::ParkingSlot s(bcar::Point(0, 0), 0, 2.5, 6);
+	string sn("slot");
+	gpl_slot(s, sn);
+
 	INIT_V
 	P(LF_POINT)
 	P(LFM_POINT)
@@ -102,6 +122,6 @@ main()
 			m.gpl();
 		}
 	}
-	gen_pl_script(V);
+	gen_pl_script(V, sn);
 	return 0;
 }
diff --git a/src/pslot.cc b/src/pslot.cc
index 1d84e28..6a9a9bb 100644
--- a/src/pslot.cc
+++ b/src/pslot.cc
@@ -411,6 +411,14 @@ ParkingSlot::recompute_entry(PoseRange p)
 	return p;
 }
 
+void
+ParkingSlot::gen_gnuplot_to(std::ostream& out)
+{
+	this->rear().gen_gnuplot_to(out);
+	this->curb().gen_gnuplot_to(out);
+	this->front().gen_gnuplot_to(out);
+}
+
 std::ostream&
 operator<<(std::ostream& o, ParkingSlot const& s)
 {
-- 
2.39.2