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2026-09-13 10:27:09 +08:00
parent b810ec7777
commit 82311a47cc
52 changed files with 2563 additions and 1278 deletions
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+function fig_replay(name)
+%FIG_REPLAY  回放画布（点运动图）：世界视图 + 事件流水 + 虚拟时间轴。
+%   name: 'replay_q3' 或 'replay_q4'，对应 docs/figures/.data/<name>.mat。
+%   本图是唯一保留自定义画布版式的图：三个区互不重叠，图例置于世界视图下方。
+
+    if nargin < 1
+        name = 'replay_q3';
+    end
+    S = fig_style();
+    D = load_data(S, name);
+    H = geom_helpers();
+    fig = figure('Color', 'w', 'Visible', 'off', 'Position', [100 100 1040 660]);
+
+    c_path   = [0.35 0.35 0.35];
+    c_ray    = pick_color(S, 'primary');
+    c_solved = pick_color(S, 'success');
+    c_unsolv = pick_color(S, 'accent');
+    c_head   = pick_color(S, 'violet');
+
+    % ---------------- 世界视图 ----------------
+    ax = axes(fig, 'Position', [0.075 0.40 0.49 0.56]);
+    hold(ax, 'on');
+    H.circle(ax, [0 0], D.omega_r, pick_color(S, 'primary'), 1.2, '-');
+    h_path = plot(ax, D.path(:, 1), D.path(:, 2), 'Color', c_path, 'LineWidth', 0.9);
+    h_ray = plot(ax, nan, nan, 'Color', c_ray, 'LineWidth', 0.8);
+    for i = 1:size(D.rays, 1)
+        p0 = D.rays(i, 1:2);
+        p1 = p0 + D.rays(i, 3:4);
+        plot(ax, [p0(1) p1(1)], [p0(2) p1(2)], 'Color', c_ray, 'LineWidth', 0.8);
+    end
+    h_disk = gobjects(0);
+    for i = 1:size(D.half_disks, 1)
+        disk = squeeze(D.half_disks(i, :, :));
+        h_disk(end + 1) = patch(ax, 'XData', disk(:, 1), 'YData', disk(:, 2), ...
+                                'FaceColor', c_head, 'FaceAlpha', 0.10, ...
+                                'EdgeColor', c_head, 'LineWidth', 0.8); %#ok<AGROW>
+    end
+    for i = 1:size(D.headings, 1)
+        p0 = D.headings(i, 1:2);
+        p1 = p0 + D.headings(i, 3:4);
+        H.arrow(ax, p0, p1, c_head);
+    end
+    solved = D.truth_solved > 0.5;
+    h_solved = plot(ax, D.truth(solved, 1), D.truth(solved, 2), 'o', ...
+                    'MarkerSize', 6, 'MarkerFaceColor', c_solved, 'MarkerEdgeColor', 'none');
+    h_unsolv = plot(ax, D.truth(~solved, 1), D.truth(~solved, 2), 'o', ...
+                    'MarkerSize', 6, 'MarkerFaceColor', c_unsolv, 'MarkerEdgeColor', 'none');
+    label_color = repmat(c_unsolv, size(D.truth, 1), 1);
+    label_color(solved, :) = repmat(c_solved, nnz(solved), 1);
+    H.label_points(ax, D.truth, D.truth_labels, label_color);
+    plot(ax, D.clears(D.clears(:, 3) > 0.5, 1), D.clears(D.clears(:, 3) > 0.5, 2), ...
+         'x', 'MarkerSize', 7, 'LineWidth', 1.4, 'Color', c_solved);
+    plot(ax, D.clears(D.clears(:, 3) <= 0.5, 1), D.clears(D.clears(:, 3) <= 0.5, 2), ...
+         'o', 'MarkerSize', 6, 'MarkerEdgeColor', 'k', 'MarkerFaceColor', 'none');
+    hold(ax, 'off');
+    axis(ax, 'equal');
+    xlim(ax, [-D.half, D.half]);
+    ylim(ax, [-D.half, D.half]);
+    xlabel(ax, 'x / m');
+    ylabel(ax, 'y / m');
+    hleg = [h_path, h_ray];
+    if ~isempty(h_disk)
+        hleg(end + 1) = h_disk(1);
+    end
+    hleg = [hleg, h_solved, h_unsolv];
+    legend(ax, hleg, D.legend, 'Location', 'southoutside', 'Orientation', 'horizontal');
+
+    % ---------------- 事件流水 ----------------
+    ex = axes(fig, 'Position', [0.625 0.40 0.345 0.56], ...
+              'XLim', [0 1], 'YLim', [0 1], 'Visible', 'off');
+    hold(ex, 'on');
+    cols = [0.00 0.34 1.00];
+    align = {'left', 'left', 'right'};
+    head = {'动作', '参数', 't / s'};
+    for j = 1:3
+        text(ex, cols(j), 0.97, head{j}, 'FontWeight', 'bold', ...
+             'HorizontalAlignment', align{j});
+    end
+    for i = 1:size(D.events, 1)
+        y = 0.90 - (i - 1) * 0.088;
+        for j = 1:3
+            text(ex, cols(j), y, D.events{i, j}, 'HorizontalAlignment', align{j}, ...
+                 'Interpreter', 'none');
+        end
+    end
+    hold(ex, 'off');
+
+    % ---------------- 虚拟时间轴 ----------------
+    tx = axes(fig, 'Position', [0.075 0.155 0.90 0.125]);
+    hold(tx, 'on');
+    rectangle(tx, 'Position', [0 0.34 D.total_s 0.32], ...
+              'FaceColor', pick_color(S, 'primary'), 'FaceAlpha', 0.12, ...
+              'EdgeColor', 'none');
+    for i = 1:size(D.marks, 1)
+        t = D.marks(i, 1);
+        if D.marks(i, 3) > 0.5
+            plot(tx, [t t], [0.05 0.95], 'Color', c_solved, 'LineWidth', 1.0);
+        elseif D.marks(i, 2) > 0.5
+            plot(tx, [t t], [0.22 0.78], 'Color', c_unsolv, 'LineWidth', 0.8);
+        end
+    end
+    hold(tx, 'off');
+    xlim(tx, [0 D.total_s]);
+    ylim(tx, [0 1]);
+    set(tx, 'YTick', []);
+    xlabel(tx, '虚拟时间 t / s');
+
+    fig_save(fig, S, D.out_png{1});
+end