def animation_callback(step, n_frames, frame):
angle = 2.0 * np.pi * (step + 1) / n_frames
R = pr.matrix_from_angle(0, angle)
A2B = np.eye(4)
A2B[:3, :3] = R
frame.set_data(A2B)
return frame
def update_frame(step, n_frames, frame):
angle = 2.0 * np.pi * (step + 1) / n_frames
R = pr.matrix_from_angle(0, angle)
A2B = np.eye(4)
A2B[:3, :3] = R
frame.set_data(A2B)
return frame
def update_trajectory(step, n_frames, trajectory):
progress = 1 - float(step + 1) / float(n_frames)
H = np.zeros((100, 4, 4))
H0 = transform_from(R_id, np.zeros(3))
H_mod = np.eye(4)
for i, t in enumerate(np.linspace(0, progress, len(H))):
H0[:3, 3] = np.array([t, 0, t])
H_mod[:3, :3] = matrix_from_angle(2, 8 * np.pi * t)
H[i] = concat(H0, H_mod)
trajectory.set_data(H)
return trajectory