x_car = x
y_car = 0
car = mpl.patches.Rectangle((x_car-0.5*car_width, y_car-car_heigth), car_width, car_heigth,
fill=True, facecolor='grey', linewidth=2.0)
image.patches.append(car)
return image
if not 'no-pickle' in sys.argv:
# here we save the simulation results so we don't have to run
# the iteration again in case the following fails
S.save(fname='ex6_ConstrainedDoubleIntegrator.pcl')
if 'plot' in sys.argv or 'animate' in sys.argv:
A = Animation(drawfnc=draw, simdata=S.sim_data,
plotsys=[(0,'x'), (1,'dx')],
plotinputs=[(0,'u')])
xmin = np.min(S.sim_data[1][:,0])
xmax = np.max(S.sim_data[1][:,0])
A.set_limits(xlim=(xmin - 0.1, xmax + 0.1), ylim=(-0.1,0.1))
if 'plot' in sys.argv:
A.show(t=S.b)
if 'animate' in sys.argv:
A.animate()
A.save('ex6_ConstrainedDoubleIntegrator.gif')
linewidth=2.0)
image.patches.append(pendulum)
image.patches.append(car)
image.patches.append(joint)
image.lines.append(rod)
return image
if not 'no-pickle' in sys.argv:
# here we save the simulation results so we don't have to run
# the iteration again in case the following fails
S.save(fname='ex7_ConstrainedInvertedPendulum.pcl')
if 'plot' in sys.argv or 'animate' in sys.argv:
A = Animation(drawfnc=draw,
simdata=S.sim_data,
plotsys=[(0, 'x'), (1, 'dx')],
plotinputs=[(0, 'u1')])
xmin = np.min(S.sim_data[1][:, 0])
xmax = np.max(S.sim_data[1][:, 0])
A.set_limits(xlim=(xmin - 0.5, xmax + 0.5), ylim=(-0.6, 0.6))
if 'plot' in sys.argv:
A.show(t=S.b)
if 'animate' in sys.argv:
A.animate()
A.save('ex7_ConstrainedInvertedPendulum.gif')
image.patches.append(joint)
image.lines.append(rod)
# and return the image
return image
sol_data = tt, xx, uu
# to plot the curves of some trajectories along with the picture
# we also pass the appropriate lists as arguments (see documentation)
A = Animation(drawfnc=draw, simdata=sol_data,
plotsys=[(0,'x'), (2,'phi')], plotinputs=[(0,'u')])
# as for now we have to explicitly set the limits of the figure
# (may involve some trial and error)
xmin = np.min(xx[:,0]); xmax = np.max(xx[:,0])
A.set_limits(xlim=(xmin - 0.5, xmax + 0.5), ylim=(-0.6,0.6))
if 'animate' in sys.argv:
# if everything is set, we can start the animation
# (might take some while)
A.animate()
# then we can save the animation as a `mp4` video file or as an animated `gif` file
A.save('InvertedPendulum.gif')
else:
A.show(t=tt[-1])