def update(self):
y = array(self.input.readings_dot)
from procgraph_mpl import pylab2rgb, pylab
if max(abs(y)) > 1:
raise BadInput('I expect an input normalized in the [-1,1] range;'
'min,max: %s,%s ' % (min(y), max(y)),
self, 'readings_dot')
f = pylab.figure(frameon=False,
figsize=(self.config.width / 100.0,
self.config.height / 100.0))
R0 = self.config.R0
amp = self.config.amp
theta = linspace(0, 2 * math.pi, 300)
pylab.plot(R0 * cos(theta), R0 * sin(theta), 'k--')
for group in self.config.groups:
indices = group['indices']
indices = range(indices[0], indices[-1] + 1)
theta_spec = group['theta']
origin = group.get('origin', [0, 0, 0])
color = group.get('color', 'b.')
N = len(indices)
theta = linspace(theta_spec[0], theta_spec[-1], N)
group_y = y[indices]
r = R0 + amp * group_y
px = cos(theta + origin[2]) * r
py = sin(theta + origin[2]) * r
pylab.plot(-py, px, color)
M = R0 + amp * 1.2
pylab.axis([-M, M, -M, M])
# turn off ticks labels, they don't have meaning
pylab.setp(f.axes[0].get_xticklabels(), visible=False)
pylab.setp(f.axes[0].get_yticklabels(), visible=False)
if self.config.title is not None:
if self.config.title != "":
pylab.title(self.config.title, fontsize=10)
else:
# We don't have a title ---
t = self.get_input_signals_names()[0]
pylab.title(t, fontsize=10)
self.output.image = pylab2rgb(transparent=self.config.transparent)
pylab.close(f.number)
def update(self):
position = array(self.input.position)
f = pylab.figure(frameon=False,
figsize=(self.config.width / 100.0,
self.config.width / 100.0))
plot_posts_xy(pylab, self.arena_info)
x = position[:, 0]
y = position[ :, 1]
xc = x[-1]
yc = y[-1]
pylab.plot(x, y, 'b.')
attitude = self.input.attitude
fwd = numpy.dot(attitude, [1, 0, 0]) * self.config.arrow_length
pylab.plot([xc, xc + fwd[0] ], [yc, yc + fwd[1]])
Z = self.config.zoom_area
R = self.arena_info['arena']['diameter'] / 2
cx = self.arena_info['arena']['origin'][0]
cy = self.arena_info['arena']['origin'][1]
# draw arena
theta = numpy.linspace(0, numpy.pi * 2.01, 500)
x = numpy.cos(theta) * R + cx
y = numpy.sin(theta) * R + cy
pylab.plot(x, y, 'k-')
pylab.axis([-Z + xc , Z + xc, -Z + yc, Z + yc])
# turn off ticks labels
pylab.setp(f.axes[0].get_xticklabels(), visible=False)
pylab.setp(f.axes[0].get_yticklabels(), visible=False)
self.output.rgb = pylab2rgb(transparent=False, tight=True)
pylab.close(f.number)
def update(self):
R = self.arena_info['arena']['diameter'] / 2
cx = self.arena_info['arena']['origin'][0]
# cy = self.arena_info['arena']['origin'][1]
h = self.arena_info['arena']['height']
width = self.config.width
ratio = h / (2 * R)
height = ratio * width
f = pylab.figure(frameon=False,
figsize=(width / 100.0,
height / 100.0))
plot_posts_xz(pylab, self.arena_info)
position = array(self.input.position)
x = position[:, 0]
z = position[:, 2]
xl = x[-1]
zl = z[-1]
pylab.plot(x, z, 'b.')
# draw arena
x = [cx - R, cx - R, cx + R, cx + R, cx - R]
z = [0, h, h, 0, 0]
pylab.plot(x, z, 'k-')
aw = self.config.zoom_area
ah = ratio * aw
pylab.axis([ xl - aw , xl + aw, zl - ah, zl + ah])
# turn off ticks labels
pylab.setp(f.axes[0].get_xticklabels(), visible=False)
pylab.setp(f.axes[0].get_yticklabels(), visible=False)
self.output.rgb = pylab2rgb(transparent=False, tight=True)
pylab.close(f.number)
def update(self):
position = array(self.input.position)
R = self.arena_info['arena']['diameter'] / 2
cx = self.arena_info['arena']['origin'][0]
# cy = self.arena_info['arena']['origin'][1]
h = self.arena_info['arena']['height']
width = self.config.width
height = h / (2 * R) * width
f = pylab.figure(frameon=False,
figsize=(width / 100.0,
height / 100.0))
plot_posts_xz(pylab, self.arena_info)
x = position[:, 0]
z = position[:, 2]
pylab.plot(x, z, 'b-')
# draw arena
x = [cx - R, cx - R, cx + R, cx + R, cx - R]
z = [0, h, h, 0, 0]
pylab.plot(x, z, 'k-')
R *= 1.1
pylab.axis([-R + cx , R + cx, -0.05, h + 0.05])
# turn off ticks labels
pylab.setp(f.axes[0].get_xticklabels(), visible=False)
pylab.setp(f.axes[0].get_yticklabels(), visible=False)
self.output.rgb = pylab2rgb(transparent=False, tight=True)
pylab.close(f.number)
def update(self):
position = array(self.input.position)
f = pylab.figure(frameon=False,
figsize=(self.config.width / 100.0,
self.config.width / 100.0))
if self.arena_info:
plot_posts_xy(pylab, self.arena_info)
x = position[:, 0]
y = position[ :, 1]
pylab.plot(x, y, 'b-')
R = self.arena_info['arena']['diameter'] / 2
cx = self.arena_info['arena']['origin'][0]
cy = self.arena_info['arena']['origin'][1]
# draw arena
theta = numpy.linspace(0, numpy.pi * 2.01, 500)
x = numpy.cos(theta) * R + cx
y = numpy.sin(theta) * R + cy
pylab.plot(x, y, 'k-')
R *= 1.1
pylab.axis([-R + cx , R + cx, -R + cy, R + cy])
# turn off ticks labels
pylab.setp(f.axes[0].get_xticklabels(), visible=False)
pylab.setp(f.axes[0].get_yticklabels(), visible=False)
self.output.rgb = pylab2rgb(transparent=False, tight=True)
pylab.close(f.number)
def update(self):
readings = array(self.input.readings)
if len(readings.shape) > 1:
msg = 'Expected flat array, got shape %s' % str(readings.shape)
raise BadInput(msg, self, 0)
from procgraph_mpl import pylab, pylab2rgb
f = pylab.figure(frameon=False,
figsize=(self.config.width / 100.0,
self.config.height / 100.0))
# limit the readings
bounds = array([0, 0, 0, 0])
for group in self.config.groups:
indices = group['indices']
indices = range(indices[0], indices[-1] + 1)
theta_spec = group['theta']
origin = group.get('origin', [0, 0, 0])
color = group.get('color', 'b.')
max_readings = group.get('max_readings', self.config.max_readings)
group_readings = minimum(readings[indices], max_readings)
N = len(indices)
theta = linspace(theta_spec[0], theta_spec[-1], N)
assert len(theta) == len(group_readings)
x = cos(theta + origin[2]) * group_readings + origin[0]
y = sin(theta + origin[2]) * group_readings + origin[1]
valid_flag = group_readings < max_readings
valid, = nonzero(valid_flag)
invalid, = nonzero(logical_not(valid_flag))
pylab.plot(-y[valid], x[valid], color)
pylab.plot(-y[invalid], x[invalid], 'r.')
R = max_readings * 1.1
x_R = R * cos(theta)
y_R = R * sin(theta)
group_bounds = array([min(x_R), max(x_R), min(y_R), max(y_R)])
for i in [1, 3]:
bounds[i] = maximum(bounds[i], group_bounds[i])
for i in [0, 2]:
bounds[i] = minimum(bounds[i], group_bounds[i])
pylab.axis(bounds)
if self.config.title is not None:
if self.config.title != "":
pylab.title(self.config.title, fontsize=10)
else:
# We don't have a title ---
t = self.get_input_signals_names()[0]
pylab.title(t, fontsize=10)
self.output.image = pylab2rgb(transparent=self.config.transparent)
#tight=True)
pylab.close(f.number)
