class Move(object):
""" Simple class used to represent a movement.
This class simply wraps a sequence of positions of specified motors. The sequence must be recorded at a predefined frequency. This move can be recorded through the :class:`~pypot.primitive.move.MoveRecorder` class and played thanks to a :class:`~pypot.primitive.move.MovePlayer`.
"""
def __init__(self, freq):
self._framerate = freq
self._timed_positions = KDTreeDict()
def __repr__(self):
return '<Move framerate={} #keyframes={}>'.format(self.framerate,
len(self.positions()))
def __getitem__(self, i):
return list(self._timed_positions.items())[i]
@property
def framerate(self):
return self._framerate
def add_position(self, pos, time):
""" Add a new position to the movement sequence.
Each position is typically stored as a dict of (time, (motor_name,motor_position)).
"""
self._timed_positions[time] = pos
def iterpositions(self):
""" Returns an iterator on the stored positions. """
return self._timed_positions.items()
# return iter(self._timed_positions.items())
def positions(self):
""" Returns a copy of the stored positions. """
return self._timed_positions
# return list(self.iterpositions())
def save(self, file):
""" Saves the :class:`~pypot.primitive.move.Move` to a json file.
.. note:: The format used to store the :class:`~pypot.primitive.move.Move` is extremely verbose and should be obviously optimized for long moves.
"""
d = {
'framerate': self.framerate,
'positions': self._timed_positions,
}
json.dump(d, file, indent=2)
@classmethod
def load(cls, file):
""" Loads a :class:`~pypot.primitive.move.Move` from a json file. """
d = json.load(file)
move = cls(d['framerate'])
move._timed_positions.update(d['positions'])
return move
def __init__(self, freq):
self._framerate = freq
self._timed_positions = KDTreeDict()
class Move(object):
""" Simple class used to represent a movement.
This class simply wraps a sequence of positions of specified motors. The sequence must be recorded at a predefined frequency. This move can be recorded through the :class:`~pypot.primitive.move.MoveRecorder` class and played thanks to a :class:`~pypot.primitive.move.MovePlayer`.
"""
def __init__(self, freq):
self._framerate = freq
self._timed_positions = KDTreeDict()
def __repr__(self):
return '<Move framerate={} #keyframes={}>'.format(
self.framerate, len(self.positions()))
def __getitem__(self, i):
return list(self._timed_positions.items())[i]
@property
def framerate(self):
return self._framerate
def add_position(self, pos, time):
""" Add a new position to the movement sequence.
Each position is typically stored as a dict of (time, (motor_name,motor_position)).
"""
self._timed_positions[time] = pos
def iterpositions(self):
""" Returns an iterator on the stored positions. """
return self._timed_positions.items()
def positions(self):
""" Returns a copy of the stored positions. """
return self._timed_positions
def plot(self, ax):
pos = self.positions()
if not pos:
return
motors = pos[0].keys()
n = len(pos)
t = np.linspace(0, n / self.framerate, n)
pos = self.positions()
p = {}
for name in motors:
p[name] = []
for tt in t:
for k, v in pos[float(tt)].items():
p[k].append(v[0])
for name in motors:
ax.plot(t, p[name])
ax.legend(motors)
ax.set_xlabel('Time (in s)')
ax.set_ylabel('Position (in degree)')
def save(self, file):
""" Saves the :class:`~pypot.primitive.move.Move` to a json file.
.. note:: The format used to store the :class:`~pypot.primitive.move.Move` is extremely verbose and should be obviously optimized for long moves.
"""
d = {
'framerate': self.framerate,
'positions': self._timed_positions,
}
json.dump(d, file, indent=2)
@classmethod
def create(cls, d):
""" Create a :class:`~pypot.primitive.move.Move` from a dictionary. """
move = cls(d['framerate'])
move._timed_positions.update(d['positions'])
return move
@classmethod
def load(cls, file):
""" Loads a :class:`~pypot.primitive.move.Move` from a json file. """
d = json.load(file)
return cls.create(d)
@classmethod
def loads(cls, str):
""" Loads a :class:`~pypot.primitive.move.Move` from a json string. """
d = json.loads(str)
return cls.create(d)
def __init__(self, freq):
self._framerate = freq
self._timed_positions = KDTreeDict()
class Move(object):
""" Simple class used to represent a movement.
This class simply wraps a sequence of positions of specified motors. The sequence must be recorded at a predefined frequency. This move can be recorded through the :class:`~pypot.primitive.move.MoveRecorder` class and played thanks to a :class:`~pypot.primitive.move.MovePlayer`.
"""
def __init__(self, freq):
self._framerate = freq
self._timed_positions = KDTreeDict()
def __repr__(self):
return '<Move framerate={} #keyframes={}>'.format(self.framerate,
len(self.positions()))
def __getitem__(self, i):
return list(self._timed_positions.items())[i]
@property
def framerate(self):
return self._framerate
def add_position(self, pos, time):
""" Add a new position to the movement sequence.
Each position is typically stored as a dict of (time, (motor_name,motor_position)).
"""
self._timed_positions[time] = pos
def iterpositions(self):
""" Returns an iterator on the stored positions. """
return self._timed_positions.items()
def positions(self):
""" Returns a copy of the stored positions. """
return self._timed_positions
def plot(self, ax):
pos = self.positions()
if not pos:
return
motors = pos[0].keys()
n = len(pos)
t = np.linspace(0, n / self.framerate, n)
pos = self.positions()
p = {}
for name in motors:
p[name] = []
for tt in t:
for k, v in pos[float(tt)].items():
p[k].append(v[0])
for name in motors:
ax.plot(t, p[name])
ax.legend(motors)
ax.set_xlabel('Time (in s)')
ax.set_ylabel('Position (in degree)')
def save(self, file):
""" Saves the :class:`~pypot.primitive.move.Move` to a json file.
.. note:: The format used to store the :class:`~pypot.primitive.move.Move` is extremely verbose and should be obviously optimized for long moves.
"""
d = {
'framerate': self.framerate,
'positions': self._timed_positions,
}
json.dump(d, file, indent=2)
@classmethod
def create(cls, d):
""" Create a :class:`~pypot.primitive.move.Move` from a dictionary. """
move = cls(d['framerate'])
move._timed_positions.update(d['positions'])
return move
@classmethod
def load(cls, file):
""" Loads a :class:`~pypot.primitive.move.Move` from a json file. """
d = json.load(file)
return cls.create(d)
@classmethod
def loads(cls, str):
""" Loads a :class:`~pypot.primitive.move.Move` from a json string. """
d = json.loads(str)
return cls.create(d)
