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Merge recipes for polygons and add polytopes #602

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171 changes: 30 additions & 141 deletions src/plot_recipes.jl
Original file line number Diff line number Diff line change
Expand Up @@ -162,22 +162,22 @@ julia> plot([B1, B2], 1e-4);
end
end

# =========================
# Plot recipes for polygons
# =========================
# ==============================
# Plot recipes for 2D polytopes
# ==============================

"""
plot_polygon(P::Union{HPolygon, HPolygonOpt}; ...)
plot_polygon(P::Union{AbstractPolytope}; ...)
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without Union (same below)


Plot a polygon in constraint representation.
Plot a 2D polytope as the convex hull of its vertices.

### Input

- `P` -- polygon in constraint representation
- `P` -- polygon or polytope

### Examples

```jldoctest
```jldoctest plotting_polytope
julia> using LazySets, Plots;

julia> P = HPolygon([LinearConstraint([1.0, 0.0], 0.6),
Expand All @@ -187,11 +187,22 @@ julia> P = HPolygon([LinearConstraint([1.0, 0.0], 0.6),

julia> plot(P);

```

This recipe also applies if the polygon is given in vertex representation:

```jldoctest plotting_polytope
julia> P = VPolygon([[0.6, 0.6], [0.4, 0.6], [0.4, 0.4], [0.6, 0.4]]);

julia> plot(P);

```
"""
@recipe function plot_polygon(P::Union{HPolygon, HPolygonOpt};
@recipe function plot_polytope(P::Union{AbstractPolytope,};
color="blue", label="", grid=true, alpha=0.5)

# for polytopes
@assert dim(P) == 2 "this recipe can only be used to plot two-dimensional sets"
seriestype := :shape

vlist = transpose(hcat(vertices_list(P)...))
Expand All @@ -201,17 +212,17 @@ julia> plot(P);
end

"""
plot_polygons(P::Vector{<:AbstractHPolygon}; ...)
plot_polytopes(P::Vector{<:AbstractPolytope}; ...)

Plot an array of polygons in constraint representation.
Plot an array of 2D polytopes.

### Input

- `P` -- array of polygons in constraint representation
- `P` -- array of polytopes

### Examples

```jldoctest
```jldoctest plotting_polytopes
julia> using LazySets, Plots;

julia> P1 = HPolygon([LinearConstraint([1.0, 0.0], 0.6),
Expand All @@ -227,76 +238,25 @@ julia> P2 = HPolygon([LinearConstraint([2.0, 0.0], 0.6),
julia> plot([P1, P2]);

```
"""
@recipe function plot_polygons(P::Vector{<:AbstractHPolygon};
seriescolor="blue", label="", grid=true,
alpha=0.5)

seriestype := :shape

for Pi in P
vlist = transpose(hcat(vertices_list(Pi)...))
@series (x, y) = vlist[:, 1], vlist[:, 2]
end
end

"""
plot_polygon(P::VPolygon; ...)

Plot a polygon in vertex representation.

### Input

- `P` -- polygon in vertex representation

### Examples

```jldoctest
julia> using LazySets, Plots;

julia> P = VPolygon([[0.6, 0.6], [0.4, 0.6], [0.4, 0.4], [0.6, 0.4]]);

julia> plot(P);

```
"""
@recipe function plot_polygon(P::VPolygon;
color="blue", label="", grid=true, alpha=0.5)

seriestype := :shape

vlist = transpose(hcat(vertices_list(P)...))
(x, y) = vlist[:, 1], vlist[:, 2]

x, y
end

"""
plot_polygons(P::Vector{<:VPolygon}; ...)

Plot an array of polygons in vertex representation.

### Input

- `P` -- array of polygons in vertex representation

### Examples

```jldoctest
julia> using LazySets, Plots;

```jldoctest plotting_polytopes
julia> P1 = VPolygon([[0.6, 0.6], [0.4, 0.6], [0.4, 0.4], [0.6, 0.4]]);

julia> P2 = VPolygon([[0.3, 0.3], [0.2, 0.3], [0.2, 0.2], [0.3, 0.2]]);

julia> plot([P1, P2]);

```

### Notes

It is assumed that the given vector of polytopes is two-dimensional.
"""
@recipe function plot_polygons(P::Vector{<:VPolygon};
@recipe function plot_polytopes(P::Vector{<:AbstractPolygon};
seriescolor="blue", label="", grid=true,
alpha=0.5)

# it is assumed that the polytopes are two-dimensional
seriestype := :shape

for Pi in P
Expand Down Expand Up @@ -373,77 +333,6 @@ julia> plot([Singleton(a), Singleton(b), Singleton(c)]);
[Tuple(element(point)) for point in arr]
end

# ============================
# Plot recipes for zonotopes
# ============================

"""
plot_polygon(Z::Zonotope; ...)

Plot a zonotope by enumerating its vertices.

### Input

- `Z` -- zonotope

### Examples

```jldoctest
julia> using LazySets, Plots;

julia> Z = Zonotope(ones(2), 0.2*[[1., 0], [0., 1], [1, 1]]);

julia> plot(Z);

```
"""
@recipe function plot_zonotope(Z::Zonotope;
color="blue", label="", grid=true, alpha=0.5)

seriestype := :shape

# we have to take the convex hull for the shape
vlist = transpose(hcat(vertices_list(Z)...))
(x, y) = vlist[:, 1], vlist[:, 2]

x, y
end

"""
plot_zonotopes(Z::Vector{<:Zonotope}; ...)

Plot an array of zonotopes.

### Input

- `Z` -- linear array of zonotopes

### Examples

```jldoctest
julia> using LazySets, Plots;

julia> Z1 = Zonotope(zeros(2), [[0.6, 0.6], [0.4, 0.6], [0.4, 0.4], [0.6, 0.4]]);

julia> Z2 = Zonotope(zeros(2), [[0.3, 0.3], [0.2, 0.3], [0.2, 0.2], [0.3, 0.2]]);

julia> plot([Z1, Z2]);

```
"""
@recipe function plot_zonotopes(Z::Vector{<:Zonotope};
seriescolor="blue", label="", grid=true,
alpha=0.5)

seriestype := :shape

for Zi in Z
# we have to take the convex hull for the shape
vlist = transpose(hcat(vertices_list(Zi)...))
@series (x, y) = vlist[:, 1], vlist[:, 2]
end
end

# =====================================
# Plot recipes for lines and intervals
# =====================================
Expand Down