def draw2(self):
j1=self.hslider1.value()
j2=self.hslider2.value()
j3=self.hslider3.value()
j=fk.dh_par(j1,j2,j3)
Tm=fk.dh_kine(j)
ee=fk.el_xyzpos(Tm)
p0,p1,p2,p3,p4,p5=fk.el_pos2base(Tm)
X1,Y1,Z1=ee[0,0:3],ee[1,0:3],ee[2,0:3]
X2,Y2,Z2=ee[0,2:4],ee[1,2:4],ee[2,2:4]
X3,Y3,Z3=ee[0,3:5],ee[1,3:5],ee[2,3:5]
X4,Y4,Z4=ee[0,4:6],ee[1,4:6],ee[2,4:6]
self.MplWidget.canvas.axes.clear ()
self.MplWidget.canvas.axes.plot (X1,Y1,Z1, color='green', marker='o', linestyle='solid', linewidth=10, markersize=20)
self.MplWidget.canvas.axes.plot (X2,Y2,Z2, color='red', marker='o', linestyle='solid', linewidth=10, markersize=20)
self.MplWidget.canvas.axes.plot (X3,Y3,Z3, color='blue', marker='o', linestyle='solid', linewidth=10, markersize=20)
self.MplWidget.canvas.axes.plot (X4,Y4,Z4, color='goldenrod', marker='o', linestyle='solid', linewidth=10, markersize=20)
x4=X4[1]
y4=Y4[1]
z4=Z4[1]
self.MplWidget.canvas.axes.text(x4,y4,z4,'({:.2f}, {:.2f}, {:.2f})'.format(x4,y4,z4), weight='bold', fontsize=12,)
self.MplWidget.canvas.axes.set_xlabel('x')
self.MplWidget.canvas.axes.set_ylabel('y')
self.MplWidget.canvas.axes.set_zlabel('z')
self.MplWidget.canvas.axes.set_xlim([-120,120])
self.MplWidget.canvas.axes.set_ylim([0,120])
self.MplWidget.canvas.axes.set_zlim([0,40])
#self.MplWidget.canvas.axes.legend (( 'cosinus', 'sinus' ), loc = 'upper right' )
#self.MplWidget.canvas.axes.set_title ( ' Cosinus - Sinus Signal' )
self.MplWidget.canvas.draw()
def drawfk(self,a,b,c):
j=fk.dh_par(a,b,c)
self.Tm=fk.dh_kine(j)
ee=fk.el_xyzpos(self.Tm)
p0,p1,p2,p3,p4,p5=fk.el_pos2base(self.Tm)
X1,Y1,Z1=ee[0,0:3],ee[1,0:3],ee[2,0:3]
X2,Y2,Z2=ee[0,2:4],ee[1,2:4],ee[2,2:4]
X3,Y3,Z3=ee[0,3:5],ee[1,3:5],ee[2,3:5]
X4,Y4,Z4=ee[0,4:6],ee[1,4:6],ee[2,4:6]
self.x4=X4[1]
self.y4=Y4[1]
self.z4=Z4[1]
#self.doubleSpinBox_ik1.setValue(round(self.x4,2))
#self.doubleSpinBox_ik2.setValue(round(self.y4,2))
#self.doubleSpinBox_ik3.setValue(round(self.z4,2))
self.label_x4.setText(str(round(self.x4,2)))
self.label_y4.setText(str(round(self.y4,2)))
self.label_z4.setText(str(round(self.z4,2)))
self.MplWidget.canvas.axes.clear ()
self.MplWidget.canvas.axes.plot (X1,Y1,Z1, color='green', marker='o', linestyle='solid', linewidth=5, markersize=10)
self.MplWidget.canvas.axes.plot (X2,Y2,Z2, color='red', marker='o', linestyle='solid', linewidth=5, markersize=10)
self.MplWidget.canvas.axes.plot (X3,Y3,Z3, color='blue', marker='o', linestyle='solid', linewidth=5, markersize=10)
self.MplWidget.canvas.axes.plot (X4,Y4,Z4, color='purple', marker="h", linestyle='solid', linewidth=5, markersize=10)
self.MplWidget.canvas.axes.text(self.x4,self.y4,self.z4,'({:.2f}, {:.2f}, {:.2f})'.format(self.x4,self.y4,self.z4), weight='bold', fontsize=12,)
self.MplWidget.defcanvas()
self.MplWidget.canvas.draw()
def draw1(self):
j1=self.hslider1.value()
j2=self.hslider2.value()
j3=self.hslider3.value()
j=fk.dh_par(j1,j2,j3)
Tm=fk.dh_kine(j)
ee=fk.el_xyzpos(Tm)
p0,p1,p2,p3,p4,p5=fk.el_pos2base(Tm)
x,y,z = ee[0,:],ee[1,:],ee[2,:]
self.MplWidget.canvas.axes.clear ()
self.MplWidget.canvas.axes.plot (x,y,z,marker='o', color='green', linewidth=2, markersize=0)
self.MplWidget.canvas.axes.set_xlabel('x')
self.MplWidget.canvas.axes.set_ylabel('y')
self.MplWidget.canvas.axes.set_zlabel('z')
self.MplWidget.canvas.axes.set_xlim([-100,100])
self.MplWidget.canvas.axes.set_ylim([0,100])
self.MplWidget.canvas.axes.set_zlim([0,100])
#self.MplWidget.canvas.axes.legend (( 'cosinus', 'sinus' ), loc = 'upper right' )
#self.MplWidget.canvas.axes.set_title ( ' Cosinus - Sinus Signal' )
self.MplWidget.canvas.draw()
import numpy as np import p_fkdh as fk j=fk.dh_par(90,60,-60) Tm=fk.dh_kine(j) ee=fk.el_xyzpos(Tm) p0,p1,p2,p3,p4,p5=fk.el_pos2base(Tm) fk.fk_draw2(ee)