def test_curve(self): # Given/When c = visual.curve(points=[[0.,0.,0.],[1.,1.,1.]], pos=(1.,1.,1.)) # Then bounds = get_bounds((1.5, 1.5, 1.5), (1.0, 1.0, 1.0)) assert_allclose(c.polydata.bounds, bounds) # When c = visual.curve(points=[[0.,0,0],[1.,1,1]], axis=(0., 1, 0)) # Then bounds = get_bounds((-0.5, 0.5, 0.5), (1.0, 1.0, 1.0)) assert_allclose(c.polydata.bounds, bounds)
def wirecube(s): c = curve(color=(1, 1, 1), radius=1) pts = [(-s, -s, -s), (-s, -s, s), (-s, s, s), (-s, s, -s), (-s, -s, -s), (s, -s, -s), (s, s, -s), (-s, s, -s), (s, s, -s), (s, s, s), (-s, s, s), (s, s, s), (s, -s, s), (-s, -s, s), (s, -s, s), (s, -s, -s)] for pt in pts: c.append(pt)
def wirecube(s): c = curve(color = (1,1,1), radius=1) pts = [(-s, -s, -s),(-s, -s, s), (-s, s, s), (-s, s, -s), (-s, -s, -s), (s, -s, -s), (s, s, -s), (-s, s, -s), (s, s, -s), (s, s, s), (-s, s, s), (s, s, s), (s, -s, s), (-s, -s, s), (s, -s, s),(s, -s, -s)] for pt in pts: c.append(pt)
def __init__(self, wp_list, np_file='/tmp/magnetic_ground_truth.np', width=800, height=600): self.debug = True self.width = width self.height = height self.wp_list = wp_list self.f = mlab.figure(size=(self.width, self.height)) visual.set_viewer(self.f) v = mlab.view(135, 180) self.balls = [] self.trajectories = [] colors = list(RoiSimulator.color_codes) color_black = colors.pop(0) color_red = colors.pop(0) wp_curve = visual.curve(color=color_red, radius=RoiSimulator.curve_radius) hist_pos = [] for i in xrange(len(self.wp_list)): ball = visual.sphere(color=color_black, radius=RoiSimulator.ball_radius) wp = self.wp_list[i] ball.x = wp[1] ball.y = wp[0] ball.z = wp[2] self.balls.append(ball) arr = visual.vector(float(wp[1]), float(wp[0]), float(wp[2])) hist_pos.append(arr) wp_curve.extend(hist_pos) x = np.linspace(0, self.width, 1) y = np.linspace(0, self.height, 1) z = np.loadtxt(np_file) z *= 255.0 / z.max() # HARDCODED # Todo: REMOVE THIS CODE ON THE FINAL RELEASE for xx in xrange(0, 200): for yy in xrange(400, 600): z[yy][xx] = 0 mlab.surf(x, y, z)
def __init__(self, hex_list, np_file='/tmp/magnetic_ground_truth.np', robot_height=40, width=800, height=600, start_point=(0, 0, 0)): self.debug = False self.animator = None self.movement_mode = 0 self.start_point = start_point self.robot_height = robot_height self.width = width self.height = height self.f = mlab.figure(size=(self.width, self.height)) visual.set_viewer(self.f) v = mlab.view(270, 180) #print v engine = mlab.get_engine() s = engine.current_scene s.scene.interactor.add_observer('KeyPressEvent', self.keypress_callback) self.robots = [] colors = list(PathRobustSimulator.color_codes) for key, local_hex_list in sorted(hex_list['internal_routes'].items()): color = colors.pop(0) ball = visual.sphere(color=color, radius=PathRobustSimulator.ball_radius) ball.x = self.start_point[0] ball.y = self.start_point[1] ball.z = self.start_point[2] curve = visual.curve(color=color, radius=PathRobustSimulator.curve_radius) r_ball = RobotBall(key, local_hex_list, hex_list['external_routes'][key], ball, curve) self.robots.append(r_ball) x = np.linspace(0, self.width, 1) y = np.linspace(0, self.height, 1) z = np.loadtxt(np_file) z *= 255.0 / z.max() mlab.surf(x, y, z) self.master_cmd = MasterCommand(self.robots)
def __init__(self, hex_list, np_file='/tmp/magnetic_ground_truth.np', robot_height=40, width=800, height=600, start_point=(0, 0, 0), message='experiment default message...'): self.debug = False self.animator = None self.movement_mode = 0 self.start_point = start_point self.robot_height = robot_height self.message = message self.start_time = int(time.time() * 1000) self.width = width self.height = height self.f = mlab.figure(size=(self.width, self.height)) visual.set_viewer(self.f) v = mlab.view(270, 180) #print v engine = mlab.get_engine() self.s = engine.current_scene self.s.scene.interactor.add_observer('KeyPressEvent', self.keypress_callback) self.robots = [] colors = list(PathBatterySimulator.color_codes) for key, local_hex_list in sorted(hex_list['internal_routes'].items()): color = colors.pop(0) ball = visual.sphere(color=color, radius=PathBatterySimulator.ball_radius) ball.x = self.start_point[0] ball.y = self.start_point[1] ball.z = self.start_point[2] r, g, b = color rt = r + (0.25 * (1 - r)) gt = g + (0.25 * (1 - g)) bt = b + (0.25 * (1 - b)) curve_color = (rt, gt, bt) curve = visual.curve(color=curve_color, radius=PathBatterySimulator.curve_radius) r_ball = RobotBall(key, local_hex_list, hex_list['external_routes'][key], ball, curve) self.robots.append(r_ball) x = np.linspace(0, self.width, 1) y = np.linspace(0, self.height, 1) z = np.loadtxt(np_file) z *= 255.0/z.max() mlab.surf(x, y, z) self.master_cmd = MasterCommand(self.robots)
def __init__(self, wp_list, hex_list, robot_height=40, np_file='/tmp/magnetic_ground_truth.np', width=800, height=600, start_point=(0, 0, 0)): self.debug = True self.movement_mode = 0 self.start_point = start_point self.robot_height = robot_height self.width = width self.height = height self.wp_list = wp_list self.index_list = [] self.history = [] self.last_positions = [] self.f = mlab.figure(size=(self.width, self.height)) visual.set_viewer(self.f) self.balls = [] self.trajectories = [] colors = list(PathSimulator.color_codes) for i in xrange(len(self.wp_list)): color = colors.pop(0) ball = visual.sphere(color=color, radius=PathSimulator.ball_radius) ball.x = self.start_point[0] ball.y = self.start_point[1] ball.z = self.start_point[2] self.balls.append(ball) self.trajectories.append( visual.curve(color=color, radius=PathSimulator.curve_radius)) self.index_list.append(0) self.history.append([]) self.last_positions.append(self.start_point) x = np.linspace(0, self.width, 1) y = np.linspace(0, self.height, 1) self.z = np.loadtxt(np_file) self.z *= 255.0 / self.z.max() mlab.surf(x, y, self.z)
def __init__(self, wp_list, np_file='/tmp/magnetic_ground_truth.np', width=800, height=600): self.debug = True self.width = width self.height = height self.wp_list = wp_list self.f = mlab.figure(size=(self.width, self.height)) visual.set_viewer(self.f) self.balls = [] self.trajectories = [] colors = list(RoiSimulator.color_codes) color_black = colors.pop(0) color_red = colors.pop(0) wp_curve = visual.curve(color=color_red, radius=RoiSimulator.curve_radius) hist_pos = [] for i in xrange(len(self.wp_list)): ball = visual.sphere(color=color_black, radius=RoiSimulator.ball_radius) wp = self.wp_list[i] ball.x = wp[1] ball.y = wp[0] ball.z = wp[2] self.balls.append(ball) arr = visual.vector(float(wp[1]), float(wp[0]), float(wp[2])) hist_pos.append(arr) wp_curve.extend(hist_pos) x = np.linspace(0, self.width, 1) y = np.linspace(0, self.height, 1) z = np.loadtxt(np_file) z *= 255.0/z.max() mlab.surf(x, y, z)
box (pos = (xx,yy,zz), length=x, height=y, width=z, color=(red,green,blue)) def wirecube(s): c = curve(color = (1,1,1), radius=1) pts = [(-s, -s, -s),(-s, -s, s), (-s, s, s), (-s, s, -s), (-s, -s, -s), (s, -s, -s), (s, s, -s), (-s, s, -s), (s, s, -s), (s, s, s), (-s, s, s), (s, s, s), (s, -s, s), (-s, -s, s), (s, -s, s),(s, -s, -s)] for pt in pts: c.append(pt) side = 150.0 cube = box(size = (side,side,side), representation = 'w' ) i = 0 while i < 100: random_box() i = i + 1 arrow(axis=(0,12,0), radius_shaft=3.5, color = (1,0,0)) ball = sphere(pos=(-side/2.,-side/2.,-side/2.),color=(1,1,0),radius=3) disk = cylinder(pos=(side/2.,side/2.,-side/2.),color=(.3,.3,1),axis=(1,1,0),radius=5) xx = arange(0,4*pi,pi/10.) spring=curve(color=(1,.7,.1), radius=0.4) for y in xx: spring.append([20+cos(2*y), y/2.-30, -20+sin(2*y)+30]) show()
#!/usr/bin/env python # Author: Raashid Baig <*****@*****.**> # License: BSD Style. from tvtk.tools.visual import curve, box, vector, show from numpy import arange, array lorenz = curve( color = (1,1,1), radius=0.3 ) # Draw grid for x in xrange(0,51,10): curve(points = [[x,0,-25],[x,0,25]], color = (0,0.5,0), radius = 0.3 ) box(pos=(x,0,0), axis=(0,0,50), height=0.4, width=0.4, length = 50) for z in xrange(-25,26,10): curve(points = [[0,0,z], [50,0,z]] , color = (0,0.5,0), radius = 0.3 ) box(pos=(25,0,z), axis=(50,0,0), height=0.4, width=0.4, length = 50) dt = 0.01 y = vector(35.0, -10.0, -7.0) pts = [] for i in xrange(2000): # Integrate a funny differential equation dydt = vector( -8.0/3*y[0] + y[1]*y[2], - 10*y[1] + 10*y[2], - y[1]*y[0] + 28*y[1] - y[2]) y = y + dydt * dt pts.append(y)
#!/usr/bin/env python # Author: Raashid Baig <*****@*****.**> # License: BSD Style. from tvtk.tools.visual import curve, box, vector, show from numpy import arange, array lorenz = curve(color=(1, 1, 1), radius=0.3) # Draw grid for x in xrange(0, 51, 10): curve(points=[[x, 0, -25], [x, 0, 25]], color=(0, 0.5, 0), radius=0.3) box(pos=(x, 0, 0), axis=(0, 0, 50), height=0.4, width=0.4, length=50) for z in xrange(-25, 26, 10): curve(points=[[0, 0, z], [50, 0, z]], color=(0, 0.5, 0), radius=0.3) box(pos=(25, 0, z), axis=(50, 0, 0), height=0.4, width=0.4, length=50) dt = 0.01 y = vector(35.0, -10.0, -7.0) pts = [] for i in xrange(2000): # Integrate a funny differential equation dydt = vector(-8.0 / 3 * y[0] + y[1] * y[2], -10 * y[1] + 10 * y[2], -y[1] * y[0] + 28 * y[1] - y[2]) y = y + dydt * dt pts.append(y) if len(pts) > 20:
color=pedestal.color) shaft = cylinder(axis=(Lshaft, 0, 0), length=Lshaft, radius=Rshaft, color=(0, 1, 0)) rotor = cylinder(pos=(Lshaft / 2 - Drotor / 2, 0, 0), axis=(Drotor, 0, 0), length=Drotor, radius=Rrotor, color=(1, 0, 0)) gyro = frame(shaft, rotor) gyro.axis = (sin(theta) * sin(phi), cos(theta), sin(theta) * cos(phi)) trail = curve(radius=Rshaft / 8., color=(1, 1, 0)) r = Lshaft / 2. dt = 0.0001 t = 0. Nsteps = 20 # number of calculational steps between graphics updates def anim(): global theta, phidot, alphadot, M, g, r, thetadot, phi, alpha, t for step in range(Nsteps): # multiple calculation steps for accuracy # Calculate accelerations of the Lagrangian coordinates: atheta = (phidot**2 * sin(theta) * cos(theta) - 2. * (alphadot + phidot * cos(theta)) * phidot * sin(theta) + 2. * M * g * r * sin(theta) / I) aphi = 2. * thetadot * (alphadot - phidot * cos(theta)) / sin(theta)
giant = sphere(pos=(-1.0e11, 0, 0), radius=2e10, color=(1, 0, 0), mass=2e30) dwarf = sphere(pos=(1.5e11, 0, 0), radius=1e10, color=(1, 1, 0), mass=1e30) giant.p = vector(0, 0, -1e4) * giant.mass dwarf.p = -1*giant.p # creating the curve which will trace the paths of actors for a in [giant, dwarf]: a.orbit = curve(radius=2e9, color=a.color) dt = 86400 def anim(): #Creating the animation function which will be called at #uniform timeperiod through the iterate function dist = dwarf.pos - giant.pos force = 6.7e-11 * giant.mass * dwarf.mass * \ dist/(sqrt(dist[0]**2 + dist[1]**2 + dist[2]**2))**3 giant.p = giant.p + force*dt dwarf.p = dwarf.p - force*dt for a in [giant, dwarf]: a.pos = a.pos + (a.p/a.mass)*dt a.orbit.append(a.pos)
pprecess = -pprecess support = Box(pos = top+MVector(0,0.01,0), size = (0.2,0.02,0.2), color = (0,1,0)) spring = Helix(pos = top, axis = vector(-0.161579, -0.98686, 0), radius = Rspring, color = (1,0.7,0.2)) gyro1 = Frame(pos = top+spring.axis) # gyro.pos at end of spring gyro1.axis = MVector(1,0,0) shaft = Cylinder(pos = gyro1.pos, axis = Lshaft*gyro1.axis, radius = Rshaft, color = (0.85,0.85,0.85), length = 1.0) rotor = Cylinder(pos = 0.5*gyro1.axis*(Lshaft-Drotor), axis = gyro1.axis*Drotor, radius = Rrotor, color = (0.5,0.5,0.5), length = 0.1) stripe1 = curve(color = color.green, points = [rotor.pos+1.03*rotor.axis+vector(0,Rrotor,0), rotor.pos+1.03*rotor.axis-vector(0,Rrotor,0)]) stripe2 = curve(color = color.green, points = [rotor.pos-0.03*rotor.axis+vector(0,Rrotor,0), rotor.pos-0.03*rotor.axis-vector(0,Rrotor,0)]) gyro = Frame(stripe1, stripe2) # gyro.pos at end of spring gyro.pos = top+spring.axis # gyro.pos at end of spring gyro.axis = vector(1,0,0) gyro.rotate(axis=(0,1,0), angle = 180.0, origin = gyro.pos) cm = gyro.pos+0.5*Lshaft*gyro.axis # center of mass of shaft Lrot = I*omega*gyro.axis p = pprecess dt = 0.01
from math import sqrt from tvtk.tools.visual import sphere, iterate, show, vector, curve #Creating the actors for the scene giant = sphere(pos=(-1.0e11, 0, 0), radius=2e10, color=(1, 0, 0), mass=2e30) dwarf = sphere(pos=(1.5e11, 0, 0), radius=1e10, color=(1, 1, 0), mass=1e30) giant.p = vector(0, 0, -1e4) * giant.mass dwarf.p = -1 * giant.p # creating the curve which will trace the paths of actors for a in [giant, dwarf]: a.orbit = curve(radius=2e9, color=a.color) dt = 86400 def anim(): #Creating the animation function which will be called at #uniform timeperiod through the iterate function dist = dwarf.pos - giant.pos force = 6.7e-11 * giant.mass * dwarf.mass * \ dist/(sqrt(dist[0]**2 + dist[1]**2 + dist[2]**2))**3 giant.p = giant.p + force * dt dwarf.p = dwarf.p - force * dt for a in [giant, dwarf]: a.pos = a.pos + (a.p / a.mass) * dt
height=hpedestal, length=wpedestal, width=wpedestal, color=(0.4,0.4,0.5)) base = box(pos=top-vector(0,hpedestal+tbase/2.,0), height=tbase, length=wbase, width=wbase, color=pedestal.color) shaft = cylinder(axis=(Lshaft,0,0), length = Lshaft, radius=Rshaft, color=(0,1,0)) rotor = cylinder(pos=(Lshaft/2 - Drotor/2, 0, 0), axis=(Drotor, 0, 0), length = Drotor, radius=Rrotor, color=(1,0,0)) gyro = frame(shaft, rotor) gyro.axis = (sin(theta)*sin(phi),cos(theta),sin(theta)*cos(phi)) trail = curve(radius=Rshaft/8., color=(1,1,0)) r = Lshaft/2. dt = 0.0001 t = 0. Nsteps = 20 # number of calculational steps between graphics updates def anim(): global theta, phidot, alphadot, M, g, r, thetadot, phi, alpha, t for step in range(Nsteps): # multiple calculation steps for accuracy # Calculate accelerations of the Lagrangian coordinates: atheta = (phidot**2*sin(theta)*cos(theta) -2.*(alphadot+phidot*cos(theta))*phidot*sin(theta) +2.*M*g*r*sin(theta)/I) aphi = 2.*thetadot*(alphadot-phidot*cos(theta))/sin(theta) aalpha = phidot*thetadot*sin(theta)-aphi*cos(theta)
def __init__(self, hex_list, np_file='/tmp/magnetic_ground_truth.np', robot_height=40, width=800, height=600, start_point=(0, 0, 0), message='experiment default message...', battery=99999): self.debug = False self.animator = None self.movement_mode = 0 self.start_point = start_point self.robot_height = robot_height self.message = message self.start_time = int(time.time() * 1000) self.timestep = 0 self.width = width self.height = height self.f = mlab.figure(size=(self.width, self.height)) visual.set_viewer(self.f) v = mlab.view(270, 180) #print v engine = mlab.get_engine() self.s = engine.current_scene self.s.scene.interactor.add_observer('KeyPressEvent', self.keypress_callback) self.robots = [] colors = list(PathBatterySimulator.color_codes) for key, local_hex_list in sorted(hex_list['internal_routes'].items()): color = colors.pop(0) ball = visual.sphere(color=color, radius=PathBatterySimulator.ball_radius) ball.x = self.start_point[0] ball.y = self.start_point[1] ball.z = self.start_point[2] r, g, b = color rt = r + (0.25 * (1 - r)) gt = g + (0.25 * (1 - g)) bt = b + (0.25 * (1 - b)) curve_color = (rt, gt, bt) curve = visual.curve(color=curve_color, radius=PathBatterySimulator.curve_radius) r_ball = RobotBall(key, local_hex_list, hex_list['external_routes'][key], ball, curve, battery=battery) self.robots.append(r_ball) x = np.linspace(0, self.width, 1) y = np.linspace(0, self.height, 1) z = np.loadtxt(np_file) z *= 255.0 / z.max() # HARDCODED # Todo: REMOVE THIS CODE ON THE FINAL RELEASE for xx in xrange(0, 200): for yy in xrange(400, 600): z[yy][xx] = 0 mlab.surf(x, y, z) self.master_cmd = MasterCommand(self.robots) self.robot_pos = open('/tmp/robot_log.txt', 'a')
pts = [(-s, -s, -s), (-s, -s, s), (-s, s, s), (-s, s, -s), (-s, -s, -s), (s, -s, -s), (s, s, -s), (-s, s, -s), (s, s, -s), (s, s, s), (-s, s, s), (s, s, s), (s, -s, s), (-s, -s, s), (s, -s, s), (s, -s, -s)] for pt in pts: c.append(pt) side = 150.0 cube = box(size=(side, side, side), representation='w') i = 0 while i < 100: random_box() i = i + 1 arrow(axis=(0, 12, 0), radius_shaft=3.5, color=(1, 0, 0)) ball = sphere(pos=(-side / 2., -side / 2., -side / 2.), color=(1, 1, 0), radius=3) disk = cylinder(pos=(side / 2., side / 2., -side / 2.), color=(.3, .3, 1), axis=(1, 1, 0), radius=5) xx = arange(0, 4 * pi, pi / 10.) spring = curve(color=(1, .7, .1), radius=0.4) for y in xx: spring.append([20 + cos(2 * y), y / 2. - 30, -20 + sin(2 * y) + 30]) show()