Exemplo n.º 1
0
    def visualization(self, ind, E):
        if ind % 100 == 0 or self.done:
            #----------- list structure
            # V = np.array(list(initparams.V))
            # E = initparams.E
            #----------- end
            # edges = initparams.E
            Path = np.array(self.Path)
            start = self.env.start
            goal = self.env.goal
            # edges = E.get_edge()
            #----------- list structure
            edges = np.array(list(E))
            #----------- end
            # generate axis objects
            ax = plt.subplot(111, projection='3d')

            # ax.view_init(elev=0.+ 0.03*initparams.ind/(2*np.pi), azim=90 + 0.03*initparams.ind/(2*np.pi))
            # ax.view_init(elev=0., azim=90.)
            ax.view_init(elev=8., azim=90.)
            # ax.view_init(elev=-8., azim=180)
            ax.clear()
            # drawing objects
            draw_Spheres(ax, self.env.balls)
            draw_block_list(ax, self.env.blocks)
            if self.env.OBB is not None:
                draw_obb(ax, self.env.OBB)
            draw_block_list(ax, np.array([self.env.boundary]), alpha=0)
            draw_line(ax, edges, visibility=0.75, color='g')
            draw_line(ax, Path, color='r')
            # if len(V) > 0:
            #     ax.scatter3D(V[:, 0], V[:, 1], V[:, 2], s=2, color='g', )
            ax.plot(start[0:1],
                    start[1:2],
                    start[2:],
                    'go',
                    markersize=7,
                    markeredgecolor='k')
            ax.plot(goal[0:1],
                    goal[1:2],
                    goal[2:],
                    'ro',
                    markersize=7,
                    markeredgecolor='k')
            # adjust the aspect ratio
            xmin, xmax = self.env.boundary[0], self.env.boundary[3]
            ymin, ymax = self.env.boundary[1], self.env.boundary[4]
            zmin, zmax = self.env.boundary[2], self.env.boundary[5]
            dx, dy, dz = xmax - xmin, ymax - ymin, zmax - zmin
            ax.get_proj = make_get_proj(ax, 1 * dx, 1 * dy, 2 * dy)
            make_transparent(ax)
            #plt.xlabel('x')
            #plt.ylabel('y')
            ax.set_axis_off()
            plt.pause(0.0001)
Exemplo n.º 2
0
 def visualization(self):
     if self.ind % 100 == 0 or self.done:
         V = np.array(self.V)
         Path = np.array(self.Path)
         start = self.env.start
         goal = self.env.goal
         # edges = []
         # for i in self.Parent:
         #     edges.append([i, self.Parent[i]])
         edges = np.array([list(i) for i in self.Edge])
         ax = plt.subplot(111, projection='3d')
         # ax.view_init(elev=0.+ 0.03*initparams.ind/(2*np.pi), azim=90 + 0.03*initparams.ind/(2*np.pi))
         # ax.view_init(elev=0., azim=90.)
         ax.view_init(elev=90., azim=0.)
         ax.clear()
         # drawing objects
         draw_Spheres(ax, self.env.balls)
         draw_block_list(ax, self.env.blocks)
         if self.env.OBB is not None:
             draw_obb(ax, self.env.OBB)
         draw_block_list(ax, np.array([self.env.boundary]), alpha=0)
         draw_line(ax, edges, visibility=0.75, color='g')
         draw_line(ax, Path, color='r')
         # if len(V) > 0:
         #     ax.scatter3D(V[:, 0], V[:, 1], V[:, 2], s=2, color='g', )
         ax.plot(start[0:1],
                 start[1:2],
                 start[2:],
                 'go',
                 markersize=7,
                 markeredgecolor='k')
         ax.plot(goal[0:1],
                 goal[1:2],
                 goal[2:],
                 'ro',
                 markersize=7,
                 markeredgecolor='k')
         # adjust the aspect ratio
         set_axes_equal(ax)
         make_transparent(ax)
         # plt.xlabel('s')
         # plt.ylabel('y')
         ax.set_axis_off()
         plt.pause(0.0001)
Exemplo n.º 3
0
 def visualization(self, tree_a, tree_b, index):
     if (index % 20 == 0 and index != 0) or self.done:
         # a_V = np.array(tree_a.V)
         # b_V = np.array(tree_b.V)
         Path = self.Path
         start = self.env.start
         goal = self.env.goal
         a_edges, b_edges = [], []
         for i in tree_a.Parent:
             a_edges.append([i, tree_a.Parent[i]])
         for i in tree_b.Parent:
             b_edges.append([i, tree_b.Parent[i]])
         ax = plt.subplot(111, projection='3d')
         ax.view_init(elev=8., azim=90.)
         ax.clear()
         draw_Spheres(ax, self.env.balls)
         draw_block_list(ax, self.env.blocks)
         if self.env.OBB is not None:
             draw_obb(ax, self.env.OBB)
         draw_block_list(ax, np.array([self.env.boundary]), alpha=0)
         draw_line(ax, a_edges, visibility=0.75, color='g')
         draw_line(ax, b_edges, visibility=0.75, color='y')
         draw_line(ax, Path, color='r')
         ax.plot(start[0:1],
                 start[1:2],
                 start[2:],
                 'go',
                 markersize=7,
                 markeredgecolor='k')
         ax.plot(goal[0:1],
                 goal[1:2],
                 goal[2:],
                 'ro',
                 markersize=7,
                 markeredgecolor='k')
         xmin, xmax = self.env.boundary[0], self.env.boundary[3]
         ymin, ymax = self.env.boundary[1], self.env.boundary[4]
         zmin, zmax = self.env.boundary[2], self.env.boundary[5]
         dx, dy, _ = xmax - xmin, ymax - ymin, zmax - zmin
         ax.get_proj = make_get_proj(ax, 1 * dx, 1 * dy, 2 * dy)
         make_transparent(ax)
         ax.set_axis_off()
         plt.pause(0.0001)
Exemplo n.º 4
0
    def visualization(self):
        if self.ind % 500 == 0:
            V = np.array(self.V)
            edges = list(map(list, self.E))
            Path = np.array(self.Path)
            start = self.env.start
            goal = self.env.goal
            # edges = E.get_edge()
            #----------- list structure
            # edges = []
            # for i in self.Parent:
            #     edges.append([i,self.Parent[i]])
            #----------- end
            # generate axis objects
            ax = plt.subplot(111, projection='3d')

            # ax.view_init(elev=0.+ 0.03*self.ind/(2*np.pi), azim=90 + 0.03*self.ind/(2*np.pi))
            # ax.view_init(elev=0., azim=90.)
            ax.view_init(elev=90., azim=0.)
            # ax.view_init(elev=-8., azim=180)
            ax.clear()
            # drawing objects
            draw_Spheres(ax, self.env.balls)
            draw_block_list(ax, self.env.blocks)
            if self.env.OBB is not None:
                draw_obb(ax, self.env.OBB)
            draw_block_list(ax, np.array([self.env.boundary]), alpha=0)
            draw_line(ax, edges, visibility=0.75, color='g')
            draw_line(ax, Path, color='r')
            if self.show_ellipse:
                draw_ellipsoid(
                    ax, self.C, self.L, self.xcenter
                )  # beware, depending on start and goal position, this might be bad for vis
            if len(V) > 0:
                ax.scatter3D(
                    V[:, 0],
                    V[:, 1],
                    V[:, 2],
                    s=2,
                    color='g',
                )
            ax.plot(start[0:1],
                    start[1:2],
                    start[2:],
                    'go',
                    markersize=7,
                    markeredgecolor='k')
            ax.plot(goal[0:1],
                    goal[1:2],
                    goal[2:],
                    'ro',
                    markersize=7,
                    markeredgecolor='k')
            # adjust the aspect ratio
            ax.dist = 5
            set_axes_equal(ax)
            make_transparent(ax)
            #plt.xlabel('s')
            #plt.ylabel('y')
            ax.set_axis_off()
            plt.pause(0.0001)