def plotSlime(self):
maxT = len(self.slimeData)
if maxT == 0:
print 'No slime to plot'
return
slimeX = [p[0] for p in self.slimeData]
slimeY = [p[1] for p in self.slimeData]
(xLower, xUpper, yLower,
yUpper) = self.getEquallyScaledBounds(slimeX, slimeY)
xRange = xUpper - xLower
yRange = yUpper - yLower
if util.within(xRange, 0, 0.001):
return
if self.slimeWindow:
self.slimeWindow.destroy()
self.slimeWindow = dw.DrawingWindow(\
self.windowSize, self.windowSize, xLower, xUpper, yLower, yUpper,
'slime')
# Draw dimensions
self.slimeWindow.drawText(xLower + 0.1 * xRange,
yLower + 0.05 * yRange,
util.prettyString(xLower),
color="black")
self.slimeWindow.drawText(xUpper - 0.1 * xRange,
yLower + 0.05 * yRange,
util.prettyString(xUpper),
color="black")
self.slimeWindow.drawText(xLower + 0.05 * xRange,
yLower + 0.1 * yRange,
util.prettyString(yLower),
color="black")
self.slimeWindow.drawText(xLower + 0.05 * xRange,
yUpper - 0.1 * yRange,
util.prettyString(yUpper),
color="black")
# Draw axes
xMin = min(slimeX)
xMax = max(slimeX)
yMin = min(slimeY)
yMax = max(slimeY)
self.slimeWindow.drawLineSeg(xMin, yMin, xUpper - 0.1 * xRange, yMin,
'gray')
self.slimeWindow.drawLineSeg(xMin, yMin, xMin, yUpper - 0.1 * yRange,
'gray')
# Draw slime
for i in range(maxT):
self.slimeWindow.drawRobot(
slimeX[i], slimeY[i], slimeX[i], slimeY[i],
colors.RGBToPyColor(colors.HSVtoRGB(i * 360.0 / maxT, 1.0,
1.0)), 2)
def plot_soar_world_dw(path_to_world,
plot_win=None,
linestyle='k',
title=None,
windowSize=600):
body = ast.parse(open(path_to_world).read()).body
walls = []
offset = (0, 0)
dim = (0, 0)
for elt in body:
if isinstance(elt, ast.Expr) and isinstance(elt.value, ast.Call):
#everything we care about falls here (i think)
if isinstance(elt.value.func, ast.Name):
args = tuple(pythonic_from_ast(i) for i in elt.value.args)
if elt.value.func.id == 'initial_robot_loc':
offset = args
elif elt.value.func.id == 'wall':
walls.append(args)
elif elt.value.func.id == 'dimensions':
dim = args
# Robot's location needs to be (0, 0)
# In the world definition, y decreases from the top
xmin = -offset[0]
xmax = xmin + dim[0]
ymin = -offset[1]
ymax = ymin + dim[1]
print('x, y', (xmin, xmax), (ymin, ymax))
print('window size', windowSize, int(windowSize * float(dim[1]) / dim[0]))
print('dim', dim)
if plot_win is None:
if title is None:
title = "Soar World Plot: {}, -- {}".\
format(os.path.basename(path_to_world),
datetime.now().strftime("%b %d, '%y; %I:%M:%S %p"))
eps = 0.1 * dim[0]
plot_win = dw.DrawingWindow(windowSize,
int(windowSize * float(dim[1]) / dim[0]),
xmin - eps,
xmax + eps,
ymin - eps,
ymax + eps,
title=title)
plot_win.drawLineSeg(xmin, ymin, xmin, ymax)
plot_win.drawLineSeg(xmin, ymax, xmax, ymax)
plot_win.drawLineSeg(xmax, ymax, xmax, ymin)
plot_win.drawLineSeg(xmax, ymin, xmin, ymin)
#now add in walls
for wall in walls:
plot_win.draw_path([xmin + i[0] for i in wall],
[ymin + i[1] for i in wall],
color='black')
return (plot_win, util.Point(offset[0], offset[1]))
def makeWindow(self, windowWidth = defaultWindowWidth, title = 'Grid Map'):
"""
Create a window of the right dimensions representing the grid map.
Store in C{self.window}.
"""
dx = self.xMax - self.xMin
dy = self.yMax - self.yMin
maxWorldDim = float(max(dx, dy))
margin = 0.01*maxWorldDim
margin = 0.0*maxWorldDim
self.window = dw.DrawingWindow(int(windowWidth*dx/maxWorldDim),
int(windowWidth*dy/maxWorldDim),
self.xMin - margin, self.xMax + margin,
self.yMin - margin, self.yMax + margin,
title)
windows.windowList.append(self.window)