def test_actor_plotting():
# test the plotting
actor = Actor()
traj = np.array([[0.0, 1.0, 1.0, 0.0],
[2.0, 3.0, -1.0, -np.pi / 3.0],
[5.0, 0.0, -2.0, np.pi],
[8.0, -2.0, 1.0, np.pi / 2.0],
[10.0, 0.0, 3.0, np.pi / 3.0]])
actor.load_trajectory(traj=traj)
# create a plot axis
fig, ax = plt.subplots()
ax.set_aspect('equal')
plt.ion()
actor.plot_traj(ax)
# animate the actor
dt = 0.1
for k in range(100):
actor.plot(ax)
# plt.show(block=False)
plt.pause(0.05)
actor.update(dt)
def test_reset3(self):
self.actor.reset(15.0)
self.assert_pose_equal(0.0, 3.0, np.pi / 3.0)
if __name__ == "__main__":
unittest.main()
# test the plotting
actor = Actor()
traj = np.array([[0.0, 1.0, 1.0, 0.0],
[2.0, 3.0, -1.0, -np.pi / 3.0],
[5.0, 0.0, -2.0, np.pi],
[8.0, -2.0, 1.0, np.pi / 2.0],
[10.0, 0.0, 3.0, np.pi / 3.0]])
actor.load_trajectory(traj=traj)
# create a plot axis
fig, ax = plt.subplots()
actor.plot_traj(ax)
# animate the actor
dt = 0.1
for k in range(100):
actor.plot(ax)
plt.show()
sleep(dt)
actor.update(dt)