def __call__(self):
vis.lock()
#TODO: you may modify the world here. This line tests a sin wave.
pt[2] = 1 + math.sin(self.iteration*0.03)
vis.unlock()
#changes to the visualization with vis.X functions can done outside the lock
if (self.iteration % 100) == 0:
if (self.iteration / 100)%2 == 0:
vis.hide("some blinking transform")
vis.addText("text4","The transform was hidden")
vis.logPlotEvent('plot','hide')
else:
vis.hide("some blinking transform",False)
vis.addText("text4","The transform was shown")
vis.logPlotEvent('plot','show')
#this is another way of changing the point's data without needing a lock/unlock
#vis.add("some point",[2,5,1 + math.sin(iteration*0.03)],keepAppearance=True)
#or
#vis.setItemConfig("some point",[2,5,1 + math.sin(iteration*0.03)])
if self.iteration == 200:
vis.addText("text2","Going to hide the text for a second...")
if self.iteration == 400:
#use this to remove text
vis.clearText()
if self.iteration == 500:
vis.addText("text2","Text added back again")
vis.setColor("text2",1,0,0)
self.iteration += 1
def run(self):
while vis.shown():
vis.lock()
vis.unlock()
# changes to the visualization must be done outside the lock
vis.clearText()
print "Ending klampt.vis visualization."
def multiwindow_template(world):
"""Tests multiple windows and views."""
vis.add("world", world)
vp = vis.getViewport()
vp.w, vp.h = 400, 600
vis.setViewport(vp)
vis.addText("label1", "This is Window 1", (20, 20))
vis.setWindowTitle("Window 1")
vis.show()
id1 = vis.getWindow()
print("First window ID:", id1)
id2 = vis.createWindow("Window 2")
vis.add("Lone point", [0, 0, 0])
vis.setViewport(vp)
vis.addText("label1", "This is Window 2", (20, 20))
print("Second window ID:", vis.getWindow())
vis.setWindow(id2)
vis.spin(float('inf'))
#restore back to 1 window, clear the text
vis.setWindow(id1)
vis.clearText()
vp = vis.getViewport()
vp.w, vp.h = 800, 800
vis.setViewport(vp)
vis.setWindowTitle("vis.spin test: will close in 5 seconds...")
vis.spin(5.0)
#Now testing ability to re-launch windows
vis.setWindowTitle("Shown again. Close me to proceed.")
vis.spin(float('inf'))
vis.setWindowTitle("Dialog test. Close me to proceed.")
vp = vis.getViewport()
vp.w, vp.h = 400, 600
vis.setViewport(vp)
vis.dialog()
vp.w, vp.h = 640, 480
vis.setViewport(vp)
for i in range(3):
widgets = GLWidgetPlugin()
widgets.addWidget(RobotPoser(world.robot(0)))
vis.addPlugin(widgets)
vis.setWindowTitle("Split screen test")
vis.spin(float('inf'))
vis.setPlugin(None)
vis.setWindowTitle("Back to normal. Close me to quit.")
vis.dialog()
vis.kill()
print(i.printNode())
vis.lock()
vis.add("Initial", [source[0], source[1], 0.02])
vis.setAttribute("Initial", "size", 14)
vis.setColor("Initial", 0, 0.4470, 0.7410)
vis.add("Goal", [goal[0], goal[1], 0.02])
vis.setAttribute("Goal", "size", 14)
vis.setColor("Goal", 0.8500, 0.3250, 0.0980)
vis.unlock()
vis.show()
time.sleep(15)
vis.lock()
robot.setConfig(waypoints[0].point)
vis.unlock()
for i in range(len(waypoints) - 1):
prWaypnt = waypoints[i + 1]
for j in range(prWaypnt.t - 1):
vis.lock()
robot.velControlKin(prWaypnt.u1 * u1, prWaypnt.u2 * u2, dt)
vis.unlock()
time.sleep(dt)
time.sleep(15)
vis.clearText()
print "Ending klampt.vis visualization."
vis.kill()
def endEnv(self):
vis.clearText()
print "Ending klampt.vis visualization."
vis.kill()
