def __cc_plot(self):
"""Plot cross correlation."""
p = int(self.plot_joint.currentText().replace('P', ''))
target = self.canvas2.get_target()
ans = self.canvas2.get_path()
dlg = DataChartDialog(self, "Cross Correlation", 3)
ax = dlg.ax()
c1 = curvature(ans[p])
c2 = curvature(target[p])
ps1 = path_signature(c1)
ps2 = path_signature(c2)
cc = cross_correlation(ps1, ps2, 0.1)
ps2[:, 0] += cc.argmax() * 0.1
ax[0].set_title(f"Cross Correlation of Point{p}")
ax[0].plot(cc)
ax[1].set_title("Curvature")
ax[1].plot(c1, label=f"Point{p}")
ax[1].plot(c2, label=f"Target Path")
ax[1].legend()
ax[2].set_title("Path Signature")
ax[2].plot(ps1[:, 0], ps1[:, 1], label=f"Point{p}")
ax[2].plot(ps2[:, 0], ps2[:, 1], label=f"Target Path")
ax[2].legend()
dlg.set_margin(0.2)
dlg.show()
dlg.exec_()
dlg.deleteLater()
def __cc_plot(self):
"""Plot cross correlation."""
p = int(self.plot_joint.currentText().replace('P', ''))
target = self.canvas2.get_target()
c1 = curvature(self.canvas2.get_path()[p])
c2 = curvature(target[p])
p1 = path_signature(c1)
p2 = path_signature(c2, 100 - 100 / (len(target[p]) + 1))
cc = cross_correlation(p1, p2, _U)
cc_argmax = cc.argmax()
p2[:, 0] += cc_argmax * _U
m_p1 = p1.copy()
m_p1[:, 0] += p1.max()
p1 = concatenate((p1, m_p1), axis=0)
del m_p1
dlg = DataChartDialog(self, "Cross Correlation", 3)
ax = dlg.ax()
ax[0].set_title("Curvature")
ax[0].plot(c1, label=f"Point{p}")
ax[0].plot(c2, label=f"Target Path")
ax[0].legend()
ax[1].set_title("Path Signature")
ax[1].plot(p1[:, 0], p1[:, 1], label=f"Point{p}")
ax[1].plot(p2[:, 0], p2[:, 1], label=f"Target Path")
ax[1].plot(cc_argmax * _U, p2[0, 1], 'ro', label=f"Shift Origin")
ax[1].legend()
ax[2].set_title(f"Cross Correlation of Point{p}")
ax[2].plot(linspace(0, len(cc) * _U, len(cc)), cc)
ax[2].plot(cc_argmax * _U, cc[cc_argmax], 'ro')
dlg.set_margin(0.2)
dlg.show()
dlg.exec_()
dlg.deleteLater()
def __plot(self) -> None:
"""Plot the data. Show the X and Y axises as two line."""
joint = self.plot_joint.currentIndex()
name = self.__current_path_name()
data = self.__paths.get(name, [])
slider_data = self.__slider_paths.get(name, {})
if not data:
return
if self.plot_joint_slot.isChecked():
pos = array(slider_data.get(joint, []))
else:
pos = array(data[joint])
if self.wrt_label.isChecked():
joint_wrt = self.wrt_joint.currentIndex()
if self.wrt_joint_slot.isChecked():
pos[:] -= array(slider_data.get(joint_wrt, []))
else:
pos[:] -= array(data[joint_wrt])
vel = derivative(pos)
acc = derivative(vel)
cur = curvature(data[joint])
plot = {}
plot_count = 0
if self.plot_pos.isChecked():
plot_count += 1
plot["Position"] = pos
if self.plot_vel.isChecked():
plot_count += 1
plot["Velocity"] = vel
if self.plot_acc.isChecked():
plot_count += 1
plot["Acceleration"] = acc
if self.plot_jerk.isChecked():
plot_count += 1
plot["Jerk"] = derivative(acc)
if self.plot_curvature.isChecked():
plot_count += 1
plot["Curvature"] = cur
if self.plot_signature.isChecked():
plot_count += 1
plot["Path Signature"] = path_signature(cur)
if plot_count < 1:
QMessageBox.warning(self, "No target", "No any plotting target.")
return
polar = self.p_coord_sys.isChecked()
row = plot_count
col = 1
if polar:
row, col = col, row
dlg = DataChartDialog(self, "Analysis", row, col, polar)
dlg.setWindowIcon(QIcon(QPixmap(":/icons/formula.png")))
ax = dlg.ax()
for p, (title, xy) in enumerate(plot.items()):
ax_i = ax[p]
ax_i.set_title(title)
if title == "Path Signature":
ax_i.plot(xy[:, 0], xy[:, 1])
ax_i.set_ylabel(r"$\kappa$")
ax_i.set_xlabel(r"$\int|\kappa|dt$")
elif xy.ndim == 2:
x = xy[:, 0]
y = xy[:, 1]
if self.c_coord_sys.isChecked():
ax_i.plot(x, label='x')
ax_i.plot(y, label='y')
ax_i.legend()
else:
r = hypot(x, y)
theta = arctan2(y, x)
ax_i.plot(theta, r, linewidth=5)
else:
ax_i.plot(xy)
dlg.set_margin(0.2)
dlg.show()
dlg.exec_()
dlg.deleteLater()