def trplot(self, end, start=None, **kwargs):
"""
Define the transform to animate
:param end: the final pose SO(3) or SE(3) to display as a coordinate frame
:type end: numpy.ndarray, shape=(3,3) or (4,4)
:param start: the initial pose SO(3) or SE(3) to display as a coordinate frame, defaults to null
:type start: numpy.ndarray, shape=(3,3) or (4,4)
:param start: an
Is polymorphic with ``base.trplot`` and accepts the same parameters.
This sets up the animation but doesn't execute it.
:seealso: :func:`run`
"""
# stash the final value
if tr.isrot(end):
self.end = tr.r2t(end)
else:
self.end = end
if start is None:
self.start = np.identity(4)
else:
if tr.isrot(start):
self.start = tr.r2t(start)
else:
self.start = start
# draw axes at the origin
tr.trplot(self.start, axes=self, block=None, **kwargs)
def trplot(self, end, start=None, **kwargs):
"""
Define the transform to animate
:param end: the final pose SE(3) or SO(3) to display as a coordinate frame
:type end: ndarray(4,4) or ndarray(3,3)
:param start: the initial pose SE(3) or SO(3) to display as a coordinate frame, defaults to null
:type start: ndarray(4,4) or ndarray(3,3)
:param start: an
Is polymorphic with ``base.trplot`` and accepts the same parameters.
This sets up the animation but doesn't execute it.
:seealso: :func:`run`
"""
if not isinstance(end, (np.ndarray, np.generic)) and isinstance(
end, Iterable):
try:
if len(end) == 1:
end = end[0]
elif len(end) >= 2:
self.trajectory = end
except TypeError:
# a generator has no len()
self.trajectory = end
# stash the final value
if base.isrot(end):
self.end = base.r2t(end)
else:
self.end = end
if start is None:
self.start = np.identity(4)
else:
if base.isrot(start):
self.start = base.r2t(start)
else:
self.start = start
# draw axes at the origin
base.trplot(self.start, axes=self, **kwargs)
def plot(self, *args, **kwargs):
"""
Plot pose object as a coordinate frame (superclass method)
:param `**kwargs`: plotting options
- ``X.plot()`` displays the pose ``X`` as a coordinate frame in either
2D or 3D. There are many options, see the links below.
Example::
>>> X = SE3.Rx(0.3)
>>> X.plot(frame='A', color='green')
:seealso: :func:`~spatialmath.base.transforms3d.trplot`, :func:`~spatialmath.base.transforms2d.trplot2`
"""
if self.N == 2:
tr.trplot2(self.A, *args, **kwargs)
else:
tr.trplot(self.A, *args, **kwargs)
def trplot(self, T, **kwargs):
"""
Define the transform to animate
:param T: an SO(3) or SE(3) pose to be displayed as coordinate frame
:type: numpy.ndarray, shape=(3,3) or (4,4)
Is polymorphic with ``base.trplot`` and accepts the same parameters.
This sets up the animation but doesn't execute it.
:seealso: :func:`run`
"""
# stash the final value
if tr.isrot(T):
self.T = tr.r2t(T)
else:
self.T = T
# draw axes at the origin
tr.trplot(np.eye(4), axes=self, **kwargs)
def plot(self, *args, **kwargs):
tr.trplot(tr.q2r(self._A), *args, **kwargs)
def tranimate(T, **kwargs):
anim = Animate(**kwargs)
tr.trplot(T, axes=anim, **kwargs)
anim.run(**kwargs)
def plot(self, *args, **kwargs):
if self.N == 2:
tr.trplot2(self.A, *args, **kwargs)
else:
tr.trplot(self.A, *args, **kwargs)
import spatialmath.base as tr import matplotlib.pyplot as plt tr.trplot(tr.transl(1, 2, 3), frame='A', rviz=True, width=1) tr.trplot(tr.transl(3, 1, 2), color='red', width=3, frame='B') tr.trplot(tr.transl(4, 3, 1) @ tr.trotx(60, 'deg'), color='green', frame='c') plt.show()
