using namespace gnuplotpp;

const std::filesystem::path out_dir =

example_common::parse_out_dir(argc, argv, "out/three_line_ieee_example");

FigureSpec fs;

fs.preset = Preset::IEEE_SingleColumn;

apply_preset_defaults(fs);

fs.rows = 1;

fs.cols = 1;

fs.formats = {OutputFormat::Pdf, OutputFormat::Svg, OutputFormat::Eps};

fs.title = "Three-Method Comparison";

fs.style.line_width_pt = 1.5;

Figure fig(fs);

AxesSpec ax;

ax.title = "Position Error Norm";

ax.xlabel = "t [s]";

ax.ylabel = "||e_p|| [m]";

ax.legend = true;

ax.grid = true;

ax.ylog = true;

std::vector<double> t;

std::vector<double> srif;

std::vector<double> ukf;

std::vector<double> ekf;

for (int i = 0; i < 200; ++i) {

const double x = static_cast<double>(i) * 0.5;

t.push_back(x);

srif.push_back(16.0 / (1.0 + 0.20 * x));

ukf.push_back(11.0 / (1.0 + 0.080 * x));

ekf.push_back(7.8 / (1.0 + 0.035 * x));

}

double y_max_data = 0.0;

for (const double v : srif) {

y_max_data = std::max(y_max_data, v);

}

for (const double v : ukf) {

y_max_data = std::max(y_max_data, v);

}

for (const double v : ekf) {

y_max_data = std::max(y_max_data, v);

}

const double y_max_plot = y_max_data * 1.05;

const double y_min_plot = std::max(1.0e-3, srif.back() * 0.8);

ax.has_ylim = true;

ax.ymin = y_min_plot;

ax.ymax = y_max_plot;

ax.gnuplot_commands = {

"set label 1 'e_p(t)=e_0 e^{-{/Symbol l} t}' at graph 0.06,0.10 font 'Times,8' front"};

fig.axes(0).set(ax);

fig.axes(0).add_series(SeriesSpec{.type = SeriesType::Line, .label = "SRIF"}, t, srif);

fig.axes(0).add_series(SeriesSpec{.type = SeriesType::Line, .label = "UKF"}, t, ukf);

fig.axes(0).add_series(SeriesSpec{.type = SeriesType::Line, .label = "EKF"}, t, ekf);

return example_common::render_figure(fig, out_dir / "figures");