def plot(self, ax, i, **kwargs_plot):
m = self.logs[i]
angles = m
angles[0] += self.angle_shift
x, y = joint_positions(angles, self.lengths, 'std')
x, y = [np.hstack((0., a)) for a in x, y]
ax.plot(x, y, 'grey', lw=4, **kwargs_plot)
ax.plot(x[0], y[0], 'ok', ms=12, **kwargs_plot)
for i in range(len(self.lengths)-1):
ax.plot(x[i+1], y[i+1], 'ok', ms=12, **kwargs_plot)
ax.plot(x[-1], y[-1], 'or', ms=12, **kwargs_plot)
def plot_step(self, ax, i, **kwargs_plot):
m = self.logs[i]
angles = m
angles[0] += self.angle_shift
x, y = joint_positions(angles, self.lengths, 'std')
x, y = [np.hstack((0., a)) for a in x, y]
ax.plot(x, y, 'grey', lw=4, **kwargs_plot)
ax.plot(x[0], y[0], 'o', color='grey', ms=10, **kwargs_plot)
for j in range(len(self.lengths)-1):
ax.plot(x[j+1], y[j+1], 'o', color='grey', ms=10, **kwargs_plot)
ax.plot(x[-1], y[-1], 'o', color='r', ms=14, markerfacecolor='white', markeredgewidth=4, markeredgecolor="r", **kwargs_plot)
def plot(self, ax, i, **kwargs_plot):
m = self.logs[i]
angles = np.array(m)
angles[0] += self.angle_shift
x, y = joint_positions(angles, self.lengths, 'std')
x, y = [np.hstack((0., a)) for a in x, y]
l = []
l += ax.plot(x, y, 'grey', lw=4, animated=True, **kwargs_plot)
l += ax.plot(x[0], y[0], 'sk', ms=8, animated=True, **kwargs_plot)
for i in range(len(self.lengths)-1):
l += ax.plot(x[i+1], y[i+1], 'ok', ms=8, animated=True, **kwargs_plot)
l += ax.plot(x[-1], y[-1], 'or', ms=8, animated=True, **kwargs_plot)
self.lines = l
return l
def plot(self, ax, i, **kwargs_plot):
m = self.logs[i]
angles = m[:-1]
angles[0] += self.angle_shift
x, y = joint_positions(angles, self.lengths, 'std')
x, y = [np.hstack((0., a)) for a in x, y]
ax.plot(x, y, 'grey', lw=4, **kwargs_plot)
ax.plot(x[0], y[0], 'ok', ms=12, **kwargs_plot)
for i in range(len(self.lengths)-1):
ax.plot(x[i+1], y[i+1], 'ok', ms=12, **kwargs_plot)
ax.plot(x[-1], y[-1], 'or', ms=4, **kwargs_plot)
ax.axis([-1.6, 2.1, -1., 2.1])
# ax.set_xlabel('X')
# ax.set_ylabel('Y')
self.plot_gripper(ax, x[-1], y[-1], np.cumsum(m[:-1]), m[-1] >= 0., **kwargs_plot)
def plot_update(self, ax, i, **kwargs_plot):
if self.lines is None:
self.plot(ax, 0, **kwargs_plot)
m = self.logs[i]
angles = np.array(m)
angles[0] += self.angle_shift
x, y = joint_positions(angles, self.lengths, 'std')
x, y = [np.hstack((0., a)) for a in x, y]
l = []
l += [[x, y]]
l += [[x[0], y[0]]]
for i in range(len(self.lengths) - 1):
l += [[x[i + 1], y[i + 1]]]
l += [[x[-1], y[-1]]]
for (line, data) in zip(self.lines, l):
line.set_data(data[0], data[1])
return self.lines
def plot(self, ax, i, **kwargs_plot):
m = self.logs[i]
angles = m[:-1]
angles[0] += self.angle_shift
x, y = joint_positions(angles, self.lengths, 'std')
x, y = [np.hstack((0., a)) for a in x, y]
ax.plot(x, y, 'grey', lw=4, **kwargs_plot)
ax.plot(x[0], y[0], 'ok', ms=12, **kwargs_plot)
for i in range(len(self.lengths) - 1):
ax.plot(x[i + 1], y[i + 1], 'ok', ms=12, **kwargs_plot)
ax.plot(x[-1], y[-1], 'or', ms=4, **kwargs_plot)
ax.axis([-1.6, 2.1, -1., 2.1])
# ax.set_xlabel('X')
# ax.set_ylabel('Y')
self.plot_gripper(ax, x[-1], y[-1], np.cumsum(m[:-1]), m[-1] >= 0.,
**kwargs_plot)
def plot_update(self, ax, i, **kwargs_plot):
if self.lines is None:
self.plot(ax, 0, **kwargs_plot)
m = self.logs[i]
angles = np.array(m)
angles[0] += self.angle_shift
x, y = joint_positions(angles, self.lengths, 'std')
x, y = [np.hstack((0., a)) for a in x, y]
l = []
l += [[x, y]]
l += [[x[0], y[0]]]
for i in range(len(self.lengths)-1):
l += [[x[i+1], y[i+1]]]
l += [[x[-1], y[-1]]]
for (line, data) in zip(self.lines, l):
line.set_data(data[0], data[1])
return self.lines
def plot(self, ax, i, **kwargs_plot):
m = self.logs[i]
angles = np.array(m)
angles[0] += self.angle_shift
x, y = joint_positions(angles, self.lengths, 'std')
x, y = [np.hstack((0., a)) for a in x, y]
l = []
l += ax.plot(x, y, 'grey', lw=4, animated=True, **kwargs_plot)
l += ax.plot(x[0], y[0], 'sk', ms=8, animated=True, **kwargs_plot)
for i in range(len(self.lengths) - 1):
l += ax.plot(x[i + 1],
y[i + 1],
'ok',
ms=8,
animated=True,
**kwargs_plot)
l += ax.plot(x[-1], y[-1], 'or', ms=8, animated=True, **kwargs_plot)
self.lines = l
return l