def shapeGen(): x, y = yield (x,y) = yield vibes.drawArrow([x-1, y-1], [x+1, y+1], 0.6, 'k[k]') (x,y) = yield vibes.drawAUV(x,y,45,2, 'k[y]') (x,y) = yield vibes.drawBox(x-1,x+1,y-2,y+2, "[b]") (x,y) = yield vibes.drawBoxesUnion([[x-1,x,y-2,y], [x-0.5,x+1,y-0.5,y+2]], "[r]") (x,y) = yield vibes.drawCircle(x,y,1, "g[m]") (x,y) = yield vibes.drawEllipse(x,y,2,1,45, color="r[darkCyan]") (x,y) = yield vibes.drawLine([[x-0.5, y-1], [x+1, y+0.5]], "k") (x,y) = yield vibes.drawPie( (x-2, y-2), (1,2.5), [20,70] , "y[cyan]") (x,y) = yield vibes.drawPolygon([[x-1,y-1], [x, y+1], [ x+1, y-1]], "k[orange]") (x,y) = yield vibes.drawRing(x,y, 1,2, '[red]') # (x,y) = yield vibes.drawPie( (x, y), (1,2), [0,360] , "y[cyan]") (x,y) = yield vibes.drawVehicle( x, y, 20, 1, "[darkBlue]") (x,y) = yield vibes.drawPoint( x,y, 1, "[k]") (x,y) = yield vibes.drawText( x,y, "Text", 1)
def shapeGen():
x, y = yield
(x, y) = yield vibes.drawArrow([x - 1, y - 1], [x + 1, y + 1], 0.6, 'k[k]')
(x, y) = yield vibes.drawAUV(x, y, 45, 2, 'k[y]')
(x, y) = yield vibes.drawBox(x - 1, x + 1, y - 2, y + 2, "[b]")
(x, y) = yield vibes.drawBoxesUnion(
[[x - 1, x, y - 2, y], [x - 0.5, x + 1, y - 0.5, y + 2]], "[r]")
(x, y) = yield vibes.drawCircle(x, y, 1, "g[m]")
(x, y) = yield vibes.drawEllipse(x, y, 2, 1, 45, color="r[darkCyan]")
(x, y) = yield vibes.drawLine([[x - 0.5, y - 1], [x + 1, y + 0.5]], "k")
(x, y) = yield vibes.drawPie((x - 2, y - 2), (1, 2.5), [20, 70], "y[cyan]")
(x,
y) = yield vibes.drawPolygon([[x - 1, y - 1], [x, y + 1], [x + 1, y - 1]],
"k[orange]")
(x, y) = yield vibes.drawRing(x, y, 1, 2, '[red]')
# (x,y) = yield vibes.drawPie( (x, y), (1,2), [0,360] , "y[cyan]")
(x, y) = yield vibes.drawVehicle(x, y, 20, 1, "[darkBlue]")
(x, y) = yield vibes.drawPoint(x, y, 1, "[k]")
(x, y) = yield vibes.drawText(x, y, "Text", 1)
#exmaple.py
from vibes import vibes
print(vibes.channel, vibes.current_fig)
vibes.beginDrawing()
vibes.newFigure("test")
vibes.drawBox(0,1,4,6,color='[#FF12FFA0]', figure='test')
vibes.drawText(12, 12, 'My Text', 0.1, 'b[r]')
vibes.axisAuto()
vibes.drawBox(0.5,2,4,7,color='[#00FFFF66]', figure='test')
vibes.drawBox(-1,0,-4,-6,color='r', figure='test')
vibes.drawLine([[0,0], [4,4]])
vibes.drawEllipse(3, 5, 1, 3, 45)
vibes.drawEllipse(5, 5, 3, 3, 0, angles=[30,60], color='g')
vibes.drawCircle(0, 0, 5)
vibes.drawAUV(0,0, 2, 3, color='r[yellow]')
vibes.drawPie([0,0], [3,4], [45, 90])
vibes.newGroup("Pie", figure="test", format='[cyan]')
vibes.drawPie([0,0], [5,9], [-120, -40], group="Pie")
# vibes.drawPie([0,0], [5,9], [-120, -40], "[b]")
vibes.drawPie([5,2], [1,2], [160, 220]) #, 'g[y]')
# vibes.clearGroup("Pie", figure="test")
return w, dw
# MAIN INUTILE
if __name__ == '__main__':
# np.array([-10*math.sin(t),10*math.cos(t)])
# np.array([10*math.cos(t),10*math.sin(t)])
# simulation
h=0.05
listRobots = []
for i in range(0,1):
listRobots.append(Robot(-4.0,45,0,0,h,i,'b'))
vibes.beginDrawing()
vibes.clearFigure()
vibes.drawLine([[-4.4,47.8],[-3.8,47.8],[-2.3,47.2],[-2,46.6],[-1.3,44.4],[-2.0,43.3],[-3.6,43.5],[-2.8,43.4]])
for t in frange(0,100,h):
time.sleep(0.1)
#vibes.clearFigure()
time1 = time.time()
for rob in listRobots:
#Draw circle of position
# print(rob.X[0])
# print(rob.X[1])
vibes.drawAUV(rob.X[0], rob.X[1], 0.2, rob.theta*180/math.pi, rob.couleur)
#Determine next point
delta = 2*rob.numero*math.pi/len(listRobots)
nextX, nextV = traj(t,delta)
vibes.drawCircle(nextX[0],nextX[1], 0.005, 'r')
y_max = 32.
def newFigure(name):
vibes.newFigure(name)
vibes.setFigureProperties({'x':0, 'y':0, 'width':1024, 'height':500, 'viewbox':'equal'})
vibes.axisLimits(x_min-offset, x_max+offset, y_min-offset, y_max+offset)
vibes.drawBox(x_min-offset, x_max+offset, y_min-offset, y_max+offset, "white[white]")
data = np.transpose(np.vstack([depthFusionData.time/3600., depthFusionData.depth]))
data_ref = np.transpose(np.vstack([missionData.time/3600., missionData.depth]))
data_piston = np.transpose(np.vstack([pistonStateData.time/3600., pistonStateData.position*tick_to_volume*1e6]))
vibes.beginDrawing()
newFigure("Depth regulation")
vibes.drawLine(data.tolist(), "black")
vibes.drawLine(data_ref.tolist(), "red")
vibes.axisAuto()
# vibes.drawLine([[0,0.3],[4360,0.3]])
vibes.saveImage(file_directory + 'float_regulation.svg')
#######################################
y_min = -1.*tick_to_volume*1e6
y_max = 2400.*tick_to_volume*1e6
newFigure("Piston state")
vibes.drawLine(data_piston.tolist(), "black")
vibes.axisAuto()
vibes.saveImage(file_directory + 'float_regulation_piston.svg')
#######################################
#exmaple.py
from vibes import vibes
print(vibes.channel, vibes.current_fig)
vibes.beginDrawing()
vibes.newFigure("test")
vibes.drawBox(0, 1, 4, 6, color='[#FF12FFA0]', figure='test')
vibes.drawText(12, 12, 'My Text', 0.1, 'b[r]')
vibes.axisAuto()
vibes.drawBox(0.5, 2, 4, 7, color='[#00FFFF66]', figure='test')
vibes.drawBox(-1, 0, -4, -6, color='r', figure='test')
vibes.drawLine([[0, 0], [4, 4]])
vibes.drawEllipse(3, 5, 1, 3, 45)
vibes.drawEllipse(5, 5, 3, 3, 0, angles=[30, 60], color='g')
vibes.drawCircle(0, 0, 5)
vibes.drawAUV(0, 0, 2, 3, color='r[yellow]')
vibes.drawPie([0, 0], [3, 4], [45, 90])
vibes.newGroup("Pie", figure="test", format='[cyan]')
vibes.drawPie([0, 0], [5, 9], [-120, -40], group="Pie")
# vibes.drawPie([0,0], [5,9], [-120, -40], "[b]")
vibes.drawPie([5, 2], [1, 2], [160, 220]) #, 'g[y]')
# vibes.clearGroup("Pie", figure="test")
vibes.drawPie([0, 0], [1, 2], [160, 220]) #, 'g[y]')
from vibes import vibes
from pyIbex import PixelMap2D, CtcPixelMap, IntervalVector, Interval
from scipy import misc
import numpy as np
"""
Example : image contractor
"""
# Generate the image using vibes
# Only use for drawing
vibes.beginDrawing()
vibes.newFigure('Map')
vibes.setFigureProperties({'x': 0, 'y': 0, 'width': 500, 'height': 500})
vibes.drawCircle(4, 4, 3, '[k]')
vibes.drawLine([[-3, -1], [7, -1]], '[k]')
vibes.drawLine([[7, -1], [7, 1]], '[k]')
vibes.axisLimits(-4, 8, -4, 8)
# Read the image and extract the last layer
img = misc.imread('./img.png')[:, :, 3]
# normalize in order to have a binary image.
img = img / np.max(img)
if np.max(img) != 1:
print("Error, img must be a binary image")
# convert img into a unsigned int64 image type
img = img.astype(np.uint64)
# vertical flip to inverse the y axis
img = np.flipud(img)
# PixelMap2D constructor takes :
from vibes import vibes
from pyIbex import PixelMap2D, CtcPixelMap, IntervalVector, Interval
from scipy import misc
import numpy as np
"""
Example : image contractor
"""
# Generate the image using vibes
# Only use for drawing
vibes.beginDrawing()
vibes.newFigure('Map')
vibes.setFigureProperties({'x': 0, 'y': 0, 'width': 500, 'height': 500})
vibes.drawCircle(4, 4, 3, '[k]')
vibes.drawLine([[-3, -1], [7, -1]], '[k]')
vibes.drawLine([[7, -1], [7, 1]], '[k]')
vibes.axisLimits(-4,8,-4,8)
# Read the image and extract the last layer
img = misc.imread('./img.png')[:,:,3]
# normalize in order to have a binary image.
img = img/np.max(img)
if np.max(img) != 1:
print("Error, img must be a binary image")
# convert img into a unsigned int64 image type
img = img.astype(np.uint64)
# vertical flip to inverse the y axis
img = np.flipud(img)
def plot_velocity_position(result): # vibes.drawLine((np.transpose(np.transpose(result)[0:2])).tolist()) vibes.drawLine(result[:,[0,2]].tolist())
