def draw_graph(self, rnd=None):
plt.clf()
if rnd is not None:
plt.plot(rnd.x, rnd.y, "^k")
for node in self.node_list:
if node.parent:
plt.plot(node.path_x, node.path_y, "-g")
for (A, b) in self.obstacle_list:
vtc = ppm.compute_polytope_vertices(A, b)
ppm.plot_polygon(vtc, color='r')
'''
plt.plot(ox, oy, "ok", ms=30 * size)
'''
ppm.plot_polygon(self.start_vtc, color='b')
ppm.plot_polygon(self.end_vtc, color='g')
# plt.axis([-2, 15, -2, 15])
plt.grid(True)
plt.pause(0.01)
def show_rmp(self):
if len(self.limits) != 2:
raise Exception("Plot currently supported only for 2D")
vtcs = [[*vtx.position] for vtx in self.vertices.values()]
print(vtcs)
pypoman.plot_polygon(vtcs)
# version.
#
# pypoman is distributed in the hope that it will be useful, but WITHOUT ANY
# WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
# A PARTICULAR PURPOSE. See the GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License along with
# pypoman. If not, see <http://www.gnu.org/licenses/>.
import pylab
from numpy import arange, array, cos, pi, sin
import pypoman
vertices = [(cos(theta), sin(theta)) for theta in arange(0, 2 * pi, pi / 6)]
A, b = pypoman.compute_polytope_halfspaces(vertices)
point = array([2.1, 1.9])
proj = pypoman.project_point_to_polytope(point, (A, b))
if __name__ == "__main__": # plot projected polytope
pylab.ion()
pylab.figure()
pylab.gca().set_aspect("equal")
pypoman.plot_polygon(vertices)
pylab.plot([point[0]], [point[1]], marker='o', markersize=3, color='r')
pylab.plot([proj[0]], [proj[1]], marker='o', markersize=3, color='b')
pylab.plot([point[0], proj[0]], [point[1], proj[1]], 'b--')
pylab.show(block=True)
import pypoman
n = 10 # dimension of the original polytope
p = 2 # dimension of the projected polytope
# Original polytope:
# - inequality constraints: \forall i, |x_i| <= 1
# - equality constraint: sum_i x_i = 0
A = vstack([+eye(n), -eye(n)])
b = ones(2 * n)
C = ones(n).reshape((1, n))
d = array([0])
ineq = (A, b) # A * x <= b
eq = (C, d) # C * x == d
# Projection is proj(x) = [x_0 x_1]
E = zeros((p, n))
E[0, 0] = 1.
E[1, 1] = 1.
f = zeros(p)
proj = (E, f) # proj(x) = E * x + f
vertices = pypoman.project_polytope(proj, ineq, eq, method='bretl')
if __name__ == "__main__": # plot projected polytope
pylab.ion()
pylab.figure()
pypoman.plot_polygon(vertices, resize=True)
pylab.show(block=True)