def render(self, mode='human', close=False):
"""
Parameters
----------
mode :
close :
Returns
-------
n/a
"""
if not self.init_rendering:
self.ani = ani_gl.VisualizationGL(name="Trajectory")
self.init_rendering = True
self.ani.draw_goal(self.zero)
#for p in self.pts:
# self.ani.draw_goal(p[1:], (0.5,0,0.5))
for i in range(len(self.waypoint_list)):
wp = self.waypoint_list[i]
self.ani.draw_goal(wp)
self.ani.draw_goal(self.goal_xyz, color=(0.5, 0, 0))
for s in self.obstacles:
self.ani.draw_sphere(s.get_center(), s.get_radius())
self.ani.draw_label("Step: {}".format(self.count),
(self.ani.window.width // 2, 20.0))
self.ani.draw()
def render(self, mode='human', close=False):
"""
Parameters
----------
mode :
close :
Returns
-------
n/a
"""
if not self.init_rendering:
self.ani = ani_gl.VisualizationGL(name="Trajectory")
self.init_rendering = True
self.ani.draw_quadrotor(self.iris)
self.ani.draw_goal(self.zero)
for i in range(len(self.waypoint_list)-1):
wp = self.waypoint_list[i]
if i == 0:
self.ani.draw_line(self.zero, wp)
else:
self.ani.draw_line(wp, self.waypoint_list[i-1])
self.ani.draw_goal(wp)
for s in self.obstacles:
self.ani.draw_sphere(s.get_center(), s.get_radius())
self.ani.draw_goal(self.goal_xyz, color=(0.5,0,0))
self.ani.draw_label("Time: {0:.2f}".format(self.t*self.ctrl_dt),
(self.ani.window.width // 2, 20.0))
self.ani.draw()
def render(self, mode='human', close=False):
if not self.init_rendering:
self.ani = ani_gl.VisualizationGL(name="Static Waypoint")
self.init_rendering = True
self.ani.draw_goal([0, 0, 0], color=(1, 0, 0))
self.ani.draw_quadrotor(self)
self.ani.draw_label("Time: {0:.2f}".format(self.t),
(self.ani.window.width // 2, 20.0))
def render(self, mode='human', close=False):
if not self.init_rendering:
self.ani = ani_gl.VisualizationGL(name="Hover")
self.init_rendering = True
self.ani.draw_quadrotor(self.iris)
self.ani.draw_goal(self.goal_xyz)
self.ani.draw_label("Time: {0:.2f}".format(self.t*self.ctrl_dt),
(self.ani.window.width // 2, 20.0))
self.ani.draw()
def renderGl(self):
if(not self.init_rendering):
self.ani = ani_gl.VisualizationGL(name="Hover");
self.init_rendering = True;
self.ani.draw_quadrotor(self.iris);
self.ani.draw_goal(self.goal_xyz);
self.ani.draw_goal(np.array([[1.0], [0.0], [0.0]]));
self.ani.draw_goal(np.array([[-1.0], [0.0], [0.0]]));
self.ani.draw_goal(np.array([[0.0], [0.0], [1.0]]));
self.ani.draw_goal(np.array([[0.0], [0.0], [-91.0]]));
self.ani.draw_label("Time: {0:.2f}".format(self.t),
(self.ani.window.width // 2, 20.0));
self.ani.draw();
print("GL render disabled")
def renderGl(self, mode='human'):
#If first call to render, initialize rendering
if(not self.init_rendering):
self.ani = ani_gl.VisualizationGL(name="Target Following",
x_dim=self.x_dim, y_dim=self.y_dim, z_dim=self.z_dim);
self.init_rendering = True;
self.ani.draw_quadrotor(self.iris);
self.ani.draw_goal(self.goal_xyz, color=(1,1,0));
self.ani.draw_label("Time: {0:.2f}".format(self.t),
(self.ani.window.width // 2, 20.0));
self.ani.draw();
#Slow down animation to a reasonable watching speed
if(mode == 'human'):
time.sleep(0.05);
def render(self, mode='human', close=False):
"""
Parameters
----------
mode :
close :
Returns
-------
n/a
"""
if not self.init_rendering:
self.ani = ani_gl.VisualizationGL(name="RandomWaypoint")
self.init_rendering = True
self.ani.draw_quadrotor(self.iris)
self.ani.draw_goal(self.goal_xyz)
self.ani.draw_label("Time: {0:.2f}".format(self.t * self.ctrl_dt),
(self.ani.window.width // 2, 20.0))
self.ani.draw()
def render(self, mode='human', close=False):
"""
Parameters
----------
mode :
close :
Returns
-------
n/a
"""
if not self.init_rendering:
self.ani = ani_gl.VisualizationGL(name="Trajectory")
self.init_rendering = True
for i in range(len(self.waypoint_list)):
wp = self.waypoint_list[i]
self.ani.draw_goal(wp)
self.ani.draw_goal(self.goal_xyz, color=(0.5, 0, 0))
self.ani.draw_label("Time: {0:.2f}".format(self.count),
(self.ani.window.width // 2, 20.0))
self.ani.draw()
