//Must include "QT += core charts widgets" in .pro file

#ifdef QT_CORE_LIB

#ifndef SIMPLEANIMATION_H

#define SIMPLEANIMATION_H

#include "eigenmatrixtypes.h"

#include <QtWidgets/QApplication>

#include <QtCharts/QChartView> //Qt's plotting library to visualize results

#include <QtCharts/QLineSeries>

#include <QMessageBox>

#include <thread>

#include <QTime>

namespace ContinuumRobotLibrary{

//There must be separate threads to update the animation

//and to assume responsibility for the plotting window.

//A thread is created to run this function.

static void workerAnimationFunc(MatrixXd x,

MatrixXd y,

double dt,

double t0,

QString title,

QtCharts::QLineSeries* p,

QtCharts::QChart* c){

QTime plot_time = QTime::currentTime();

double t = t0;

int cols = static_cast<int>(x.cols());

for(int i = 0; i < x.rows(); i++){

//Approximately do not exceed the time step

while(plot_time.msecsTo(QTime::currentTime()) < 1000*dt);

plot_time = QTime::currentTime();

t += dt;

//Plot the series at this time

QList<QPointF> points;

points.reserve(cols);

for(int j = 0; j < cols; j++)

points << QPointF(x(i,j),y(i,j));

p->replace(points);

c->setTitle("<b>" + title + "</b><br>t = " + QString::number(t) + 's');

}

}

/*! Shows an animated plot of the evolution of x and y series over time.

Each row of x and y represents the data series at an instant in time.

The thread of execution is paused while the window is open. */

inline void playAnimation(MatrixXd x,

MatrixXd y,

double dt = 1,

QString title = "",

QString x_title = "",

QString y_title = "",

double t0 = 0){

if(x.cols()!=y.cols() || x.rows()!=y.rows()){

QMessageBox msgBox;

msgBox.setWindowTitle("Animation Error");

msgBox.setText("x and y series must be the same size.");

msgBox.setStandardButtons(QMessageBox::Ok);

msgBox.setDefaultButton(QMessageBox::Ok);

msgBox.exec();

return;

}

if(x.cols()==0 || x.rows()==0){

QMessageBox msgBox;

msgBox.setWindowTitle("Animation Error");

msgBox.setText("The animated series are empty.");

msgBox.setStandardButtons(QMessageBox::Ok);

msgBox.setDefaultButton(QMessageBox::Ok);

msgBox.exec();

return;

}

int argc = 0;

char* argv[1];

char null = '\0';

argv[0] = &null;

QApplication a(argc, argv);

QtCharts::QChart* chart = new QtCharts::QChart();

chart->setTitle("<b>" + title + "</b><br>t = " + QString::number(t0) + 's');

QtCharts::QLineSeries* p = new QtCharts::QLineSeries(chart);

for (int i = 0; i < x.cols(); i++)

p->append(QPointF(x(0,i), y(0,i)));

chart->addSeries(p);

chart->createDefaultAxes();

chart->axes(Qt::Horizontal).back()->setTitleText(x_title);

chart->axes(Qt::Vertical).back()->setTitleText(y_title);

chart->legend()->hide();

double x_min = x.minCoeff();

double x_max = x.maxCoeff();

double y_min = y.minCoeff();

double y_max = y.maxCoeff();

double x_range = x_max - x_min;

double y_range = y_max - y_min;

chart->axes(Qt::Horizontal).back()->setRange(x_min - 0.05*x_range, x_max + 0.05*x_range);

chart->axes(Qt::Vertical).back()->setRange(y_min - 0.05*y_range, y_max + 0.05*y_range);

QtCharts::QChartView* chartView = new QtCharts::QChartView(chart);

chartView->resize(600,600);

chartView->show();

std::thread t(workerAnimationFunc, x, y, dt, t0, title, p, chart);

a.exec();

}

}

#endif // SIMPLEANIMATION_H

#endif // QT_CORE_LIB