def __init__(self, name):
# Transforms absolute_target_position into a position in the frame of
# the turtlesim, based on the input of this class.
self.absolute_to_relative = TurtlesimTransform(name +
"_absolute_to_relative")
# Computes the desired velocity based on the relative position using a
# basic PD controller.
self.pd_controller = TurtlesimControl(name + "_linear_control")
self.pd_controller.setKp(np.array([0.0, 0.0])) # the gains
# Internal plug of this sub_graph
plug(self.absolute_to_relative.relative_position,
self.pd_controller.error)
# Declaration of the sub graph inputs
self.robot_absolute_position_sin = self.absolute_to_relative.robot_absolute_position
self.robot_orientation_sin = self.absolute_to_relative.robot_orientation
self.absolute_target_position_sin = self.absolute_to_relative.absolute_position
# Declaration of the sub graph outputs
self.control_sout = self.pd_controller.desired_velocity
writeGraph("/tmp/my_graph.dot")
def createPdf(name='graph', folder='/tmp/'):
file = folder + name
writeGraph(file+'.dot')
import os
os.system('dot -o '+file+'.pdf -Tpdf '+file+'.dot')
os.system('evince '+file+'.pdf &')
def createPdf(name='graph', folder='/tmp/'):
file = folder + name
writeGraph(file + '.dot')
import os
os.system('dot -o ' + file + '.pdf -Tpdf ' + file + '.dot')
os.system('evince ' + file + '.pdf &')
def write_svg_graph(path='/tmp/'):
''' outputs a svg of the graph to the specified path '''
writeGraph(path + 'graph.dot')
os.system('dot -Tsvg ' + path + 'graph.dot -o ' + path + 'graph.svg')
return
def write_pdf_graph(path='/tmp/'):
''' outputs a pdf of the graph to the specified path '''
writeGraph(path + 'graph.dot')
os.system('dot -Tpdf ' + path + 'graph.dot -o ' + path + 'graph.pdf')
return
def draw_simple_graph():
writeGraph('/tmp/robot_state_reference_from_slider.dot')