def bokeh_kin(kin_env, m_signal, color='#DF4949', alpha=1.0, **kwargs):
m_vector = tools.to_vector(m_signal, kin_env.m_channels)
s_signal = kin_env._multiarm.forward_kin(m_vector)
xs, ys = [0.0], [0.0]
for i in range(kin_env.cfg.dim):
xs.append(s_signal['x{}'.format(i + 1)])
ys.append(s_signal['y{}'.format(i + 1)])
xs, ys = ys, xs # we swap x and y for a more symmetrical look
if isinstance(kin_env.cfg.lengths, numbers.Real):
total_length = kin_env.cfg.lengths * kin_env.cfg.dim
else:
total_length = sum(kin_env.cfg.lengths)
total_length += 0.0
kwargs = {
'plot_height': int(350 * 1.60),
'plot_width': int(350 * 1.60),
'x_range': [-1.0, 1.0],
'y_range': [-1.0, 1.0],
'line_color': color,
'line_alpha': alpha,
'fill_color': color,
'fill_alpha': alpha,
'title': ''
}
plotting.hold()
plotting.line(xs, ys, **kwargs)
plotting.grid().grid_line_color = None
plotting.xaxis().major_tick_in = 0
plotting.ygrid().grid_line_color = None
plotting.yaxis().major_tick_in = 0
plotting.circle(xs[:1], ys[:1], radius=0.015, **kwargs)
plotting.circle(xs[1:-1], ys[1:-1], radius=0.008, **kwargs)
plotting.circle(xs[-1:], ys[-1:], radius=0.01, color='red')
plotting.hold(False)
def bokeh_kin(kin_env, m_signal, color='#DF4949', alpha=1.0, **kwargs):
m_vector = tools.to_vector(m_signal, kin_env.m_channels)
s_signal = kin_env._multiarm.forward_kin(m_vector)
xs, ys = [0.0], [0.0]
for i in range(kin_env.cfg.dim):
xs.append(s_signal['x{}'.format(i+1)])
ys.append(s_signal['y{}'.format(i+1)])
xs, ys = ys, xs # we swap x and y for a more symmetrical look
if isinstance(kin_env.cfg.lengths, numbers.Real):
total_length = kin_env.cfg.lengths*kin_env.cfg.dim
else:
total_length = sum(kin_env.cfg.lengths)
total_length += 0.0
kwargs ={'plot_height' : int(350*1.60),
'plot_width' : int(350*1.60),
'x_range' : [-1.0, 1.0],
'y_range' : [-1.0, 1.0],
'line_color' : color,
'line_alpha' : alpha,
'fill_color' : color,
'fill_alpha' : alpha,
'title':''
}
plotting.hold()
plotting.line(xs, ys, **kwargs)
plotting.grid().grid_line_color = None
plotting.xaxis().major_tick_in = 0
plotting.ygrid().grid_line_color = None
plotting.yaxis().major_tick_in = 0
plotting.circle(xs[ : 1], ys[ : 1], radius=0.015, **kwargs)
plotting.circle(xs[ 1:-1], ys[ 1:-1], radius=0.008, **kwargs)
plotting.circle(xs[-1: ], ys[-1: ], radius=0.01, color='red')
plotting.hold(False)
def _execute(self, m_signal, meta=None):
m_vector = tools.to_vector(m_signal, self.m_channels)
s_vector = (m_vector[0] + m_vector[1], m_vector[0] * m_vector[1])
return tools.to_signal(s_vector, self.s_channels)
def _execute(self, m_signal, meta=None):
m_vector = tools.to_vector(m_signal, self.m_channels)
s_vector = (m_vector[0] + m_vector[1], m_vector[0]*m_vector[1])
return tools.to_signal(s_vector, self.s_channels)
