def update_patterns_page(dimensions_json, poses_json, relayout_data, figure):
dimensions = helpers.load_params(dimensions_json, "dims")
poses = helpers.load_params(poses_json, "pose")
hexapod = VirtualHexapod(dimensions)
try:
hexapod.update(poses)
except Exception as alert:
return figure, helpers.make_alert_message(alert)
BASE_PLOTTER.update(figure, hexapod)
helpers.change_camera_view(figure, relayout_data)
return figure, ""
def update_kinematics_page(dimensions_json, poses_json, relayout_data, figure):
if figure is None:
return BASE_FIGURE, ""
dimensions = helpers.load_dimensions(dimensions_json)
poses = json.loads(poses_json)
hexapod = VirtualHexapod(dimensions)
try:
hexapod.update(poses)
except Exception as alert:
return figure, helpers.make_alert_message(alert)
BASE_PLOTTER.update(figure, hexapod)
helpers.change_camera_view(figure, relayout_data)
return figure, ""
def update_inverse_page(dimensions_json, ik_parameters_json, relayout_data, figure):
dimensions = helpers.load_params(dimensions_json, "dims")
ik_parameters = helpers.load_params(ik_parameters_json, "ik")
hexapod = VirtualHexapod(dimensions)
try:
poses, hexapod = inverse_kinematics_update(hexapod, ik_parameters)
except Exception as alert:
return figure, helpers.make_alert_message(alert)
if RECOMPUTE_HEXAPOD:
try:
hexapod = recompute_hexapod(dimensions, ik_parameters, poses)
except Exception as alert:
return figure, helpers.make_alert_message(alert)
BASE_PLOTTER.update(figure, hexapod)
helpers.change_camera_view(figure, relayout_data)
return figure, helpers.make_poses_message(poses)
