def plot_log(file_path):
"""
Read a path log file and plot it
:param file_path: Path log file path
"""
with open(file_path) as log:
i = csv.reader(log)
for line in i:
dibrobot([float(line[0]),
float(line[1]),
float(line[2])], 'r', 'p')
plt.show()
def loop_robot_drawer(finished, robot):
"""
Loop that plot the robot position every 0.3 seconds
:param finished: if finish is true, must stop updating position
:param robot: Robot object
"""
print("Drawer started")
plt.ion()
# Wait until update odometry start
plt.pause(0.5)
while not finished.value:
[x, y, th] = robot.readOdometry()
dibrobot([x, y, th], 'r', 'p')
plt.pause(0.3)
def plotLive(self):
"""
Plots the robot position every self.PLOT_TIME seconds until self.finished.value == True
"""
tEnd = time.time()
while not self.finished.value:
# current processor time in a floating point value, in seconds
tIni = time.time()
# Read odometry variables
[x, y, th] = self.readOdometry()
# Show plot live
plot_robot.dibrobot([x, y, th], 'red', 'p')
plot_robot.draw()
tEnd = time.time()
waitTime = self.PLOT_TIME - (tEnd - tIni)
if waitTime > 0:
time.sleep(waitTime)