from PythonQt import QtGui, Qt
from PythonQt.QCustomPlot import QCustomPlot
pens = (
Qt.QPen(Qt.Qt.black),
Qt.QPen(Qt.Qt.red),
Qt.QPen(Qt.Qt.green),
Qt.QPen(Qt.Qt.blue),
Qt.QPen(Qt.Qt.magenta),
Qt.QPen(Qt.Qt.yellow),
Qt.QPen(Qt.Qt.cyan),
Qt.QPen(Qt.Qt.gray),
)
class Plot(QtGui.QWidget):
def __init__(self, plugin):
super(Plot, self).__init__(self)
self.plugin = plugin
self.qcp = QCustomPlot()
layout = QtGui.QVBoxLayout(self)
layout.addWidget(self.qcp)
self.qcp.setInteraction(1, True) # iRangeDrag
self.qcp.setInteraction(2, True) # iRangeZoom
self.qcp.setAutoAddPlottableToLegend(True)
self.qcp.legend().setVisible(True)
self.timer = Qt.QTimer(self)
self.timer.setSingleShot(False)
self.timer.setInterval(100)
Qt.Qt.darkYellow,
Qt.Qt.darkGray,
Qt.Qt.lightGray,
)
lineStyles = (
Qt.Qt.SolidLine,
Qt.Qt.DashLine,
Qt.Qt.DotLine,
Qt.Qt.DashDotLine,
Qt.Qt.DashDotDotLine,
)
pens = []
for ls in lineStyles:
for c in colors:
qpen = Qt.QPen(c)
qpen.setStyle (ls)
pens.append (qpen)
pens = tuple(pens)
class VelGetter:
def __init__(self, plugin, name):
self.plugin = plugin
self.name = str(name)
self.vector6 = Vector6 (self.name)
def getV(self):
return self.plugin.client.robot.getJointVelocityInLocalFrame (self.name)
def createNodes(self, color):