def update():
global i
if i==len(x0Arr):
i=0
return
zFound=-(math.sqrt(l**2-x0Arr[i]**2-y0Arr[i]**2)-l) #ze wzoru na odleglosc punktu w 3d
p=np.array([[0,x0Arr[i]],[0,y0Arr[i]],[l,zFound]])
p=p.transpose()
plt.setData(pos=p,color=C)
pBall=np.array([[x0Arr[i]],[y0Arr[i]],[zFound]]) #aktualizuje wspolrzedne linki
pBall=pBall.transpose()
cBall=pg.glColor('r')
ball.setData(pos=pBall,color=cBall,size=0.3,pxMode=False) #aktualizuje wspolrzedne kulki
i=i+1
def update():
'''update position and orientation'''
nonlocal i, pts, state
pos, q = np.array(state[:3]) * 100, state[3:7]
uAxis, angle = q2ua(q)
pt = (pos).reshape(1, 3)
if pts.size < 150:
pts = np.concatenate((pts, pt))
else:
pts = np.concatenate((pts[-50:, :], pt))
plt.setData(pos=pts)
ArrowMesh.resetTransform()
sphereMesh.resetTransform()
ArrowMesh.rotate(angle, uAxis[0], uAxis[1], uAxis[2])
ArrowMesh.translate(*pos)
sphereMesh.translate(*pos)
w.setWindowTitle('position={}cm'.format(np.round(pos, 1)))
i += 1
def callGroupPlotter(data):
plt = plotter.groupPlot()
plt.setData(data)
global varName
plt.setVarName(varName)
plt.configure_traits()
def callSinglePlotter(data):
plt = plotter.singlePlot()
plt.setData(data)
global varName
plt.setVarName(varName)
plt.configure_traits()
