def plot_cartesian(traj,
xaxis=None,
yaxis=None,
zaxis=None,
color='b',
label='_nolegend_',
linewidth=2,
scatter_size=20):
''' xaxis - x axis for the graph (0,1 or 2)
zaxis - for a 3d plot. not implemented.
'''
import arm_trajectories as at
#if traj.__class__ == at.JointTrajectory:
if isinstance(traj, at.JointTrajectory):
traj = joint_to_cartesian(traj)
pts = np.matrix(traj.p_list).T
label_list = ['X coord (m)', 'Y coord (m)', 'Z coord (m)']
x = pts[xaxis, :].A1.tolist()
y = pts[yaxis, :].A1.tolist()
if zaxis == None:
pl.plot(x, y, c=color, linewidth=linewidth, label=label)
pl.scatter(
x, y, c=color, s=scatter_size, label='_nolegend_', linewidths=0)
pl.xlabel(label_list[xaxis])
pl.ylabel(label_list[yaxis])
pl.legend(loc='best')
pl.axis('equal')
else:
from numpy import array
from enthought.mayavi.api import Engine
engine = Engine()
engine.start()
if len(engine.scenes) == 0:
engine.new_scene()
z = pts[zaxis, :].A1.tolist()
time_list = [t - traj.time_list[0] for t in traj.time_list]
mlab.plot3d(x, y, z, time_list, tube_radius=None, line_width=4)
mlab.axes()
mlab.xlabel(label_list[xaxis])
mlab.ylabel(label_list[yaxis])
mlab.zlabel(label_list[zaxis])
mlab.colorbar(title='Time')
# -------------------------------------------
axes = engine.scenes[0].children[0].children[0].children[1]
axes.axes.position = array([0., 0.])
axes.axes.label_format = '%-#6.2g'
axes.title_text_property.font_size = 4
def plot_cartesian(traj, xaxis=None, yaxis=None, zaxis=None, color='b',label='_nolegend_',
linewidth=2, scatter_size=10, plot_velocity=False):
import arm_trajectories as at
#if traj.__class__ == at.JointTrajectory:
if isinstance(traj,at.JointTrajectory):
traj = joint_to_cartesian(traj)
pts = np.matrix(traj.p_list).T
label_list = ['X coord (m)', 'Y coord (m)', 'Z coord (m)']
x = pts[xaxis,:].A1.tolist()
y = pts[yaxis,:].A1.tolist()
if plot_velocity:
vels = np.matrix(traj.v_list).T
xvel = vels[xaxis,:].A1.tolist()
yvel = vels[yaxis,:].A1.tolist()
if zaxis == None:
mpu.plot_yx(y, x, color, linewidth, '-', scatter_size, label,
axis = 'equal', xlabel = label_list[xaxis],
ylabel = label_list[yaxis],)
if plot_velocity:
mpu.plot_quiver_yxv(y, x, np.matrix([xvel,yvel]),
width = 0.001, scale = 1.)
mpu.legend()
else:
from numpy import array
from enthought.mayavi.api import Engine
engine = Engine()
engine.start()
if len(engine.scenes) == 0:
engine.new_scene()
z = pts[zaxis,:].A1.tolist()
time_list = [t-traj.time_list[0] for t in traj.time_list]
mlab.plot3d(x,y,z,time_list,tube_radius=None,line_width=4)
mlab.axes()
mlab.xlabel(label_list[xaxis])
mlab.ylabel(label_list[yaxis])
mlab.zlabel(label_list[zaxis])
mlab.colorbar(title='Time')
# -------------------------------------------
axes = engine.scenes[0].children[0].children[0].children[1]
axes.axes.position = array([ 0., 0.])
axes.axes.label_format = '%-#6.2g'
axes.title_text_property.font_size=4
def plot_cartesian(traj, xaxis=None, yaxis=None, zaxis=None, color='b',label='_nolegend_',
linewidth=2, scatter_size=10, plot_velocity=False):
import matplotlib_util.util as mpu
import arm_trajectories as at
#if traj.__class__ == at.JointTrajectory:
if isinstance(traj,at.JointTrajectory):
traj = joint_to_cartesian(traj)
pts = np.matrix(traj.p_list).T
label_list = ['X coord (m)', 'Y coord (m)', 'Z coord (m)']
x = pts[xaxis,:].A1.tolist()
y = pts[yaxis,:].A1.tolist()
if plot_velocity:
vels = np.matrix(traj.v_list).T
xvel = vels[xaxis,:].A1.tolist()
yvel = vels[yaxis,:].A1.tolist()
if zaxis == None:
mpu.plot_yx(y, x, color, linewidth, '-', scatter_size, label,
axis = 'equal', xlabel = label_list[xaxis],
ylabel = label_list[yaxis],)
if plot_velocity:
mpu.plot_quiver_yxv(y, x, np.matrix([xvel,yvel]),
width = 0.001, scale = 1.)
mpu.legend()
else:
from numpy import array
from enthought.mayavi.api import Engine
engine = Engine()
engine.start()
if len(engine.scenes) == 0:
engine.new_scene()
z = pts[zaxis,:].A1.tolist()
time_list = [t-traj.time_list[0] for t in traj.time_list]
mlab.plot3d(x,y,z,time_list,tube_radius=None,line_width=4)
mlab.axes()
mlab.xlabel(label_list[xaxis])
mlab.ylabel(label_list[yaxis])
mlab.zlabel(label_list[zaxis])
mlab.colorbar(title='Time')
# -------------------------------------------
axes = engine.scenes[0].children[0].children[0].children[1]
axes.axes.position = array([ 0., 0.])
axes.axes.label_format = '%-#6.2g'
axes.title_text_property.font_size=4
def __init__(self, data, scene, minv, maxv, warp=1, scalarbar=False,
points=True, surf=True):
self.data, self.min, self.max, self.warp = data, minv, maxv, warp
self.scalarbar = scalarbar
global engine
if engine is None: # If Mayavi is not running already
from enthought.mayavi.api import Engine
engine = Engine()
engine.start() # start Mayavi (only works in ipython)
self.scene = engine.new_scene() if scene is None else scene
self.source = sapi.VTKDataSource()
engine.add_source(self.source, scene=self.scene)
self.update_data()
if points: self.plot_points()
if surf: self.plot_surf()
self.scene.scene.isometric_view()
# Recorded script from Mayavi2
from numpy import array
import os
import fnmatch
from enthought.mayavi.modules.orientation_axes import OrientationAxes
import enthought.mayavi.mlab
from enthought.mayavi.api import OffScreenEngine
try:
engine = mayavi.engine
except NameError:
from enthought.mayavi.api import Engine
engine = Engine()
engine.start()
if len(engine.scenes) == 0:
engine.new_scene()
# -------------------------------------------
dir = os.getcwd()
for file0 in os.listdir('.'):
if fnmatch.fnmatch(file0, '*AMP.rec'):
filename = file0
print filename
savename = filename
##
scene1 = engine.new_scene()
scene1.scene.off_screen_rendering = True
jesse_mat_lab_coord_source1 = engine.open(filename, scene1)
# Recorded script from Mayavi2
from numpy import array
try:
engine = mayavi.engine
except NameError:
from enthought.mayavi.api import Engine
engine = Engine()
engine.start()
if len(engine.scenes) == 0:
engine.new_scene()
# -------------------------------------------
scene = engine.scenes[0]
vtkxml_file_reader = engine.open(u'/Users/prabhu/work/MEDIA/m2/data/solution.vtp', scene)
from enthought.mayavi.modules.surface import Surface
surface = Surface()
engine.add_filter(surface, vtkxml_file_reader)
scene.scene.camera.position = [-5.0805380472988206, -22.772737120755238, 27.951999647518075]
scene.scene.camera.focal_point = [-0.30313491821289062, 0.0, 1.4027749300003052]
scene.scene.camera.view_angle = 30.0
scene.scene.camera.view_up = [-0.1142423672711194, 0.76412329986979977, 0.63487342369670707]
scene.scene.camera.clipping_range = [22.838642391722981, 51.077591804257452]
scene.scene.camera.compute_view_plane_normal()
scene.scene.render()
scene.scene.camera.position = [-26.79814746753679, -17.616423028517339, 16.698474306673273]
scene.scene.camera.focal_point = [-0.30313491821289062, 0.0, 1.4027749300003052]
scene.scene.camera.view_angle = 30.0
scene.scene.camera.view_up = [0.117668827287714, 0.54423876670086724, 0.83063723243342136]
scene.scene.camera.clipping_range = [16.95271984178639, 58.486755617116714]
scene.scene.camera.compute_view_plane_normal()
scene.scene.render()
surface.actor.property.edge_visibility = True
''' Created on Apr 28, 2009 @author: jakub ''' import numpy as np a = np.random.random((4, 4)) from enthought.mayavi.api import Engine e = Engine() e.start() s = e.new_scene() from enthought.mayavi.sources.api import ArraySource src = ArraySource(scalar_data=a) e.add_source(src) from enthought.mayavi.filters.api import WarpScalar, PolyDataNormals warp = WarpScalar() e.add_filter(warp, obj=src) normals = PolyDataNormals() e.add_filter(normals, obj=warp) from enthought.mayavi.modules.api import Surface surf = Surface() e.add_module(surf, obj=normals)