def draw_robot(self, draw_path=True, text_info=''):
"""Create a new frame and draw a representation of the robot in it"""
x,y,phi = self.state.get_pose()
if self.viewer:
f = Frame.Frame()
if draw_path:
f.add_lines(color='black',
alpha=0.5,
lines=[self.path[:]],
linewidth=0.02)
# Draw start and goal
f.add_circle(self.init,
color='green',
alpha=0.5,
radius=0.05)
for g in self.goals:
f.add_circle(g,
color='blue',
alpha=0.5,
radius=0.05)
# Our robot representation is built of an arrow head
# with two wheels.
poly = Shapes.arrow_head_polygon((x, y),
phi,
scale=0.02)
f.add_polygons([poly],
color="red",
alpha=0.5)
wheels = Shapes.rectangle_pair((x,y),
5.,2.,7.,
angle=phi,
scale=0.02)
f.add_polygons(wheels,
color="black",
alpha=0.5)
# Add some anotation
f.add_text(pos=(-0.5,-0.5), size=0.1, text="Time=%.2fs"%self.time,color="darkgreen")
dy = -0.6
for i,s in enumerate(text_info.split('\n')):
f.add_text(pos=(-0.5,dy-0.1*i), size=0.07,
text=s,color="darkgreen")
self.viewer.add_frame(f)
time.sleep(0.01)
def draw_robot(self, draw_path=True, text_info=''):
"""Create a new frame and draw a representation of the robot in it"""
x,y,phi = self.state.get_pose()
phi_d = self.get_dir_to_goal()
if self.viewer:
f = Frame.Frame()
if draw_path:
f.add_lines(color=Color.Color("black"),
lines=[self.path[:]],
linewidth=0.01)
# Draw start and goal
for p,color in ( (self.init, "green"),
(self.goal, "blue") ):
if p:
f.add_circle(p,
color=color,
alpha=0.5,
radius=0.05)
# Our robot representation is built of an arrow head
# with two wheels.
poly = Shapes.arrow_head_polygon((x, y),
phi,
scale=0.02)
f.add_polygons([poly],
color="red",
alpha=0.5)
wheels = Shapes.rectangle_pair((x,y),
5.,2.,7.,
angle=phi,
scale=0.02)
f.add_polygons(wheels,
color="black",
alpha=0.5)
# Add some anotation
f.add_text(pos=(-0.5,-0.5), size=0.1, text="Time=%.2fs"%self.time,color="darkgreen")
dy = -0.6
for i,s in enumerate(text_info.split('\n')):
f.add_text(pos=(-0.5,dy-0.1*i), size=0.07,
text=s,color="darkgreen")
self.viewer.add_frame(f)
time.sleep(0.01)
def draw_robot(self, draw_path=True):
"""Create a new frame and draw a representation of the robot in it"""
if self.viewer:
f = Frame.Frame()
if draw_path:
f.add_lines(color=Color.Color("black"),
lines=[self.path[:]],
linewidth=0.01)
# Draw start and goal
for p,color in ( (self.init, "green"),
(self.goal, "blue") ):
if p:
f.add_circle(p,
color=color,
alpha=0.5,
radius=0.05)
# Our robot representation is built of an arrow head
# with two wheels.
poly = Shapes.arrow_head_polygon((self.x, self.y),
self.phi,
scale=0.02)
f.add_polygons([poly],
color=Color.Color("red"),
alpha=0.5)
wheels = Shapes.rectangle_pair((self.x,self.y),
5.,2.,7.,
angle=self.phi,
scale=0.02)
f.add_polygons(wheels,
color=Color.Color("black"),
alpha=0.5)
# Add some anotation
f.add_text(pos=(-0.5,-0.5),
size=0.1,
text="Time=%.2fs"%(self.time),
color=Color.Color("darkgreen"))
self.viewer.add_frame(f)
time.sleep(0.01)
def draw_robot(self, draw_path=True):
"""Create a new frame and draw a representation of the robot in it"""
if self.viewer:
f = Frame.Frame()
if draw_path:
f.add_lines(color=Color.Color("black"),
lines=[self.path[:]],
linewidth=0.01)
# Draw start and goal
for p, color in ((self.init, "green"), (self.goal, "blue")):
if p:
f.add_circle(p, color=color, alpha=0.5, radius=0.05)
# Our robot representation is built of an arrow head
# with two wheels.
poly = Shapes.arrow_head_polygon((self.x, self.y),
self.phi,
scale=0.02)
f.add_polygons([poly], color=Color.Color("red"), alpha=0.5)
wheels = Shapes.rectangle_pair((self.x, self.y),
5.,
2.,
7.,
angle=self.phi,
scale=0.02)
f.add_polygons(wheels, color=Color.Color("black"), alpha=0.5)
# Add some anotation
f.add_text(pos=(-0.5, -0.5),
size=0.1,
text="Time=%.2fs" % (self.time),
color=Color.Color("darkgreen"))
self.viewer.add_frame(f)
time.sleep(0.01)
polygons = [[(x,100),
(x+10,100),
(x+5,110)],
[(x+30,100),
(x+40,100),
(x+35,110)],
])
arw = Shapes.arrow_head_polygon((x,-25),
scale=10)
rect = Shapes.rotated_rectangle((x,-150),
width=50,
height=10,
angle=-1.0*i/N * math.pi*2,
)
wheels = Shapes.rectangle_pair((x,-25),
5.,2.,7.,
left_angle = 1.0*i/N * math.pi*2,
scale=10)
f.add_polygons(polygons = [arw,
rect],
color="cyan",
alpha=0.5)
f.add_polygons(polygons = wheels,
color="black",
alpha=0.7)
f.add_text(pos=(250,200),
face="Serif 18",
markup=("<big>Frame %d</big>\n"%i
+ "A <b>bold</b> line\n"
"Greek: α\n"
"<span fgcolor=\"red\">R</span>"
