def cairo_skin_fly1(cr):
r = 1.0 # will be scaled by robot radius
with cairo_save(cr):
cr.scale(0.32, 0.32)
def wing():
rw = r
with cairo_save(cr):
cr.scale(1.5, 1)
cairo_plot_circle2(cr, rw / 2, 0, rw,
fill_color=[.5, .5, .5])
wa = 3 / 2
with cairo_transform(cr, t=[0, wa], r=np.pi / 2):
wing()
with cairo_transform(cr, t=[0, -wa], r=(-np.pi / 2)):
wing()
with cairo_save(cr):
cr.scale(1.5, 0.75)
cairo_plot_circle2(cr, 0, 0, r,
fill_color=WHITE, border_color=BLACK,
border_width=0.005)
cairo_plot_circle2(cr, r * 1.5, 0, r / 1.5,
fill_color=WHITE, border_color=BLACK,
border_width=0.005)
def cairo_robot_skin_circular(cr):
with cairo_save(cr):
cairo_plot_circle2(cr, 0, 0, 1, **CairoConstants.robot_body_style)
def line():
cr.move_to(0.2, 0)
cr.line_to(1, 0)
cairo_stroke_with_style(cr, line, **CairoConstants.robot_body_style)
def cairo_skin_fly1(cr):
r = 1.0 # will be scaled by robot radius
with cairo_save(cr):
cr.scale(0.32, 0.32)
def wing():
rw = r
with cairo_save(cr):
cr.scale(1.5, 1)
cairo_plot_circle2(cr, rw / 2, 0, rw, fill_color=[.5, .5, .5])
wa = 3 / 2
with cairo_transform(cr, t=[0, wa], r=np.pi / 2):
wing()
with cairo_transform(cr, t=[0, -wa], r=(-np.pi / 2)):
wing()
with cairo_save(cr):
cr.scale(1.5, 0.75)
cairo_plot_circle2(cr,
0,
0,
r,
fill_color=WHITE,
border_color=BLACK,
border_width=0.005)
cairo_plot_circle2(cr,
r * 1.5,
0,
r / 1.5,
fill_color=WHITE,
border_color=BLACK,
border_width=0.005)
def plot_fieldsampler_fancy(cr, positions, sensels, radius=None,
alpha=0.2):
# Scale in [0,1] for better contrast
sensels = sensels - np.min(sensels)
if np.max(sensels) > 0:
sensels = sensels / np.max(sensels)
# find radius if none given as the minimum distance of the first
# sensels to the others
if radius is None:
radius = find_radius(positions)
indices = np.array(range(sensels.size))
# Use completely random permutation
permutation = np.argsort(RANDOM_PERM[:indices.size])
# Sort by value
# permutation = np.argsort(np.array(sensels.flat))
indices = indices[permutation]
for i in indices:
value = sensels.flat[i]
p = positions[i, :]
uvalue = value
facecolor = [uvalue, uvalue, uvalue, value]
border_color = [0, 0, 0, 0.3 + 0.5 * value]
radius_i = (alpha + (1 - alpha) * value) * radius
cairo_plot_circle2(cr, x=p[0], y=p[1], radius=radius_i,
fill_color=facecolor,
border_color=border_color,
border_width=radius / 10.0)
def cairo_skin_eye(cr, size=1.0):
with cairo_save(cr):
cr.scale(size, size)
# White part
cairo_plot_circle2(cr, 0, 0, 1,
fill_color=WHITE, border_color=BLACK,
border_width=0.05)
# Brown
# BROWN1 = [.4, .2, 0]
BROWN2 = [.6, .3, 0]
cairo_plot_circle2(cr, 0.5, 0, 0.5,
fill_color=BROWN2,
border_color=None,
border_width=None)
# Black
cairo_plot_circle2(cr, 0.6, 0, 0.22, # 0.25,
fill_color=BLACK,
border_color=None,
border_width=None)
def wing():
rw = r
with cairo_save(cr):
cr.scale(1.5, 1)
cairo_plot_circle2(cr, rw / 2, 0, rw, fill_color=[.5, .5, .5])
def wing():
rw = r
with cairo_save(cr):
cr.scale(1.5, 1)
cairo_plot_circle2(cr, rw / 2, 0, rw,
fill_color=[.5, .5, .5])
def omni_wheel(cr, r=0.15):
cairo_plot_circle2(cr, 0, 0, r, **CairoConstants.omni_wheel_style)