def plot_coordinate_systems(
cs_data: Tuple[str, Dict],
axes: plt.Axes.axes = None,
title: str = None,
limits: Union[List[Tuple[float, float]], Tuple[float, float]] = None,
time_index: int = None,
legend_pos: str = "lower left",
) -> plt.Axes.axes:
"""Plot multiple coordinate systems.
Parameters
----------
cs_data : Tuple[str, Dict]
A tuple containing the coordinate system that should be plotted and a dictionary
with the key word arguments that should be passed to its plot function.
axes : matplotlib.axes.Axes
The target axes object that should be drawn to. If `None` is provided, a new
one will be created.
title : str
The title of the plot
limits : Tuple[float, float] or List[Tuple[float, float]]
Each tuple marks lower and upper boundary of the x, y and z axis. If only a
single tuple is passed, the boundaries are used for all axis. If `None`
is provided, the axis are adjusted to be of equal length.
time_index : int
Index of a specific time step that should be plotted if the corresponding
coordinate system is time dependent
legend_pos : str
A string that specifies the position of the legend. See the matplotlib
documentation for further details
Returns
-------
matplotlib.axes.Axes :
The axes object that was used as canvas for the plot
"""
if axes is None:
_, axes = new_3d_figure_and_axes()
for lcs, kwargs in cs_data:
if "time_index" not in kwargs:
kwargs["time_index"] = time_index
lcs.plot(axes, **kwargs)
_set_limits_matplotlib(axes, limits)
if title is not None:
axes.set_title(title)
axes.legend(loc=legend_pos)
return axes
def plot_coordinate_system_manager_matplotlib(
csm,
axes: plt.Axes.axes = None,
reference_system: str = None,
coordinate_systems: List[str] = None,
data_sets: List[str] = None,
colors: Dict[str, int] = None,
time: Union[pd.DatetimeIndex, pd.TimedeltaIndex,
List[pd.Timestamp]] = None,
time_ref: pd.Timestamp = None,
title: str = None,
limits: Union[List[Tuple[float, float]], Tuple[float, float]] = None,
show_origins: bool = True,
show_trace: bool = True,
show_vectors: bool = True,
) -> plt.Axes.axes:
"""Plot the coordinate systems of a `weldx.transformations.CoordinateSystemManager`.
Parameters
----------
csm : weldx.transformations.CoordinateSystemManager
The `weldx.transformations.CoordinateSystemManager` that should be plotted
axes : matplotlib.axes.Axes
The target axes object that should be drawn to. If `None` is provided, a new
one will be created.
reference_system : str
The name of the reference system for the plotted coordinate systems
coordinate_systems : List[str]
Names of the coordinate systems that should be drawn. If `None` is provided,
all systems are plotted.
data_sets : List[str]
Names of the data sets that should be drawn. If `None` is provided, all data
is plotted.
colors: Dict[str, int]
A mapping between a coordinate system name or a data set name and a color.
The colors must be provided as 24 bit integer values that are divided into
three 8 bit sections for the rgb values. For example `0xFF0000` for pure
red.
Each coordinate system or data set that does not have a mapping in this
dictionary will get a default color assigned to it.
time : pandas.DatetimeIndex, pandas.TimedeltaIndex, List[pandas.Timestamp], or \
weldx.transformations.LocalCoordinateSystem
The time steps that should be plotted
time_ref : pandas.Timestamp
A reference timestamp that can be provided if the ``time`` parameter is a
`pandas.TimedeltaIndex`
title : str
The title of the plot
limits : Tuple[float, float] or List[Tuple[float, float]]
Each tuple marks lower and upper boundary of the x, y and z axis. If only a
single tuple is passed, the boundaries are used for all axis. If `None`
is provided, the axis are adjusted to be of equal length.
show_origins : bool
If `True`, the origins of the coordinate system are visualized in the color
assigned to the coordinate system.
show_trace : bool
If `True`, the trace of time dependent coordinate systems is plotted.
show_vectors : bool
If `True`, the coordinate cross of time dependent coordinate systems is plotted.
Returns
-------
matplotlib.axes.Axes :
The axes object that was used as canvas for the plot
"""
if time is not None:
return plot_coordinate_system_manager_matplotlib(
csm.interp_time(time=time, time_ref=time_ref),
axes=axes,
reference_system=reference_system,
coordinate_systems=coordinate_systems,
title=title,
show_origins=show_origins,
show_trace=show_trace,
show_vectors=show_vectors,
)
if axes is None:
_, axes = new_3d_figure_and_axes()
axes.set_xlabel("x")
axes.set_ylabel("y")
axes.set_zlabel("z")
if reference_system is None:
reference_system = csm.root_system_name
if coordinate_systems is None:
coordinate_systems = csm.coordinate_system_names
if data_sets is None:
data_sets = csm.data_names
if title is not None:
axes.set_title(title)
# plot coordinate systems
color_gen = _color_generator_function()
for lcs_name in coordinate_systems:
color = _color_int_to_rgb_normalized(
_get_color(lcs_name, colors, color_gen))
lcs = csm.get_cs(lcs_name, reference_system)
lcs.plot(
axes=axes,
color=color,
label=lcs_name,
show_origin=show_origins,
show_trace=show_trace,
show_vectors=show_vectors,
)
# plot data
for data_name in data_sets:
color = _color_int_to_rgb_normalized(
_get_color(data_name, colors, color_gen))
data = csm.get_data(data_name, reference_system)
triangles = None
if isinstance(data, geo.SpatialData):
triangles = data.triangles
data = data.coordinates
data = data.data
while data.ndim > 2:
data = data[0]
axes.plot(data[:, 0],
data[:, 1],
data[:, 2],
"x",
color=color,
label=data_name)
if triangles is not None:
for triangle in triangles:
triangle_data = data[[*triangle, triangle[0]], :]
axes.plot(
triangle_data[:, 0],
triangle_data[:, 1],
triangle_data[:, 2],
color=color,
)
_set_limits_matplotlib(axes, limits)
axes.legend()
return axes