def play(self, logger_folder=None, no_iter = -1):
""" If logger_folder exists and the result file is saved, then the specific iteration can be chosen to play the animation. \\
Parameter
----------
logger_folder : string
The name of the logger folder
no_iter : int
The number of iteration to play the animation
"""
fig, ax = super().create_plot(figsize=(8, 2), xlim=(-5,75), ylim=(-15,5))
trajectory = np.asarray(logger.read_from_json(logger_folder, no_iter)["trajectory"])
car = patches.FancyBboxPatch((0, 0), 3, 2, "round,pad=0.02")
car.set_color('C0')
ax.add_patch(car)
plt.plot(trajectory[:,0], trajectory[:,1])
self._is_interrupted=False
for i in range(self.T):
angle = trajectory[i,2,0]
t_start = ax.transData
x = trajectory[i,0,0] + 1*np.sin(angle)
y = trajectory[i,1,0] - 1*np.cos(angle)
rotate_center = t_start.transform([x, y])
car.set_x(x)
car.set_y(y)
t = mpl.transforms.Affine2D().rotate_around(rotate_center[0], rotate_center[1], angle)
t_end = t_start + t
car.set_transform(t_end)
fig.canvas.draw()
plt.pause(0.01)
if self._is_interrupted:
return
self._is_interrupted = True
def play(self, logger_folder=None, no_iter=-1):
""" If logger_folder exists and the result file is saved, then the specific iteration can be chosen to play the animation. \\
Parameter
----------
logger_folder : string
The name of the logger folder
no_iter : int
The number of iteration to play the animation
"""
fig, ax = super().create_plot(xlim=(-4, 4), ylim=(-4, 4))
trajectory = np.asarray(
logger.read_from_json(logger_folder, no_iter)["trajectory"])
pole1 = patches.FancyBboxPatch((0, 0), 0.04, self.l1, "round,pad=0.02")
pole1.set_color('C0')
pole2 = patches.FancyBboxPatch((0, 0), 0.04, self.l2, "round,pad=0.02")
pole2.set_color('C1')
ax.add_patch(pole1)
ax.add_patch(pole2)
self._is_interrupted = False
for i in range(self.T):
self.play_trajectory_current = trajectory[i, :, 0]
# draw pole1
t_start = ax.transData
x1 = -0.02 * np.cos(self.play_trajectory_current[0])
y1 = 0.02 * np.sin(self.play_trajectory_current[0])
rotate_center = t_start.transform([x1, y1])
pole1.set_x(x1)
pole1.set_y(y1)
t = mpl.transforms.Affine2D().rotate_around(
rotate_center[0], rotate_center[1],
-self.play_trajectory_current[0])
t_end = t_start + t
pole1.set_transform(t_end)
# draw pole2
x2 = self.l1 * np.sin(self.play_trajectory_current[
0]) - 0.02 * np.cos(self.play_trajectory_current[0] +
self.play_trajectory_current[2])
y2 = self.l1 * np.cos(self.play_trajectory_current[
0]) + 0.02 * np.sin(self.play_trajectory_current[0] +
self.play_trajectory_current[2])
rotate_center = t_start.transform([x2, y2])
pole2.set_x(x2)
pole2.set_y(y2)
t = mpl.transforms.Affine2D().rotate_around(
rotate_center[0], rotate_center[1],
-self.play_trajectory_current[0] -
self.play_trajectory_current[2])
t_end = t_start + t
pole2.set_transform(t_end)
fig.canvas.draw()
plt.pause(0.001)
if self._is_interrupted:
return
self._is_interrupted = True
def play(self, logger_folder=None, no_iter=-1):
""" If ``logger_folder`` exists and the result json file is saved,
then the specific iteration can be chosen to play the animation.
If ``logger_folder`` is set to be none, then the trajectroy in the last iteration will be played.
:param logger_folder: Name of the logger folder where the result json is saved, defaults to True
:type logger_folder: str, optional
:param no_iter: Number of iteration to play the animation. If it is set as -1,
then the trajectroy in the last iteration in the given result file will be played. defaults to -1.
:type no_iter: int, optional
"""
fig, ax = super().create_plot(figsize=(5, 5),
xlim=(-5, 10),
ylim=(-7.5, 7.5))
trajectory = np.asarray(
logger.read_from_json(logger_folder, no_iter)["trajectory"])
car = patches.FancyBboxPatch((0, 0), 3, 2, "round,pad=0.2")
car.set_color('C0')
ax.add_patch(car)
plt.plot(trajectory[:, 0], trajectory[:, 1], 'C1')
plt.plot([-1, -1], [10, -10], 'C2')
plt.plot([-1, 5], [2, 2], 'C2')
plt.plot([-1, 5], [-2, -2], 'C2')
self._is_interrupted = False
for i in range(self.T):
angle = trajectory[i, 2, 0]
t_start = ax.transData
x = trajectory[i, 0, 0] + 1 * np.sin(angle)
y = trajectory[i, 1, 0] - 1 * np.cos(angle)
rotate_center = t_start.transform([x, y])
car.set_x(x)
car.set_y(y)
t = mpl.transforms.Affine2D().rotate_around(
rotate_center[0], rotate_center[1], angle)
t_end = t_start + t
car.set_transform(t_end)
fig.canvas.draw()
plt.pause(0.001)
if self._is_interrupted:
return
self._is_interrupted = True