hd.TIME_FACTOR = 2000
hd.TIME_STEP = 1e-5
hd.ALGORITHM = "forward"
matplotlib.rcParams['pdf.fonttype'] = 42
matplotlib.rcParams['ps.fonttype'] = 42
circles = []
circles.append(Circle(origin=[.1, .0], radius=0.1))
circles.append(Circle(origin=[.1, .25], radius=0.05))
circles.append(Circle(origin=[.2, .25], radius=0.05))
circles.append(Circle(origin=[.0, .25], radius=0.05))
workspace = Workspace()
workspace.obstacles = circles
renderer = WorkspaceDrawer(workspace, rows=ROWS, cols=COLS)
x_source = np.array([0.2, 0.15])
# ------------------------------------------------------------------------------
iterations = ROWS * COLS
U = hd.heat_diffusion(workspace, x_source, iterations)
for i in range(iterations):
renderer.set_drawing_axis(i)
renderer.draw_ws_obstacles()
renderer.draw_ws_point([x_source[0], x_source[1]], color='r', shape='o')
renderer.background_matrix_eval = False
renderer.draw_ws_img(U[i],
interpolate="bicubic",
color_style=plt.cm.tab20c)
renderer.show()
# PERFORMANCE OF THIS SOFTWARE.
#
# Jim Mainprice on Wed January 22 2019
from demos_common_imports import *
from pyrieef.geometry.workspace import *
from pyrieef.geometry import heat_diffusion
from pyrieef.rendering.workspace_renderer import WorkspaceDrawer
import matplotlib.pyplot as plt
ROWS = 1
COLS = 2
heat_diffusion.NB_POINTS = 101
heat_diffusion.TIME_FACTOR = 50
heat_diffusion.ALGORITHM = "forward"
iterations = 10
workspace = Workspace()
source = [0, 0]
renderer = WorkspaceDrawer(workspace, rows=ROWS, cols=COLS)
U = heat_diffusion.heat_diffusion(workspace, source, iterations)
U_e = heat_diffusion.compare_with_kernel(U[-1], 9.020E-03, workspace)
for i in range(2):
renderer.set_drawing_axis(i)
renderer.draw_ws_obstacles()
renderer.draw_ws_point(source, color='k', shape='o')
renderer.background_matrix_eval = False
renderer.draw_ws_img(U[-1] if i == 0 else U_e,
interpolate="none",
color_style=plt.cm.gray)
renderer.show()