def __init__(self):
global x, y, z, yaw, pitch, roll
x = y = z = yaw = pitch = roll = 0
self.robot = Quadruped(ax=self, origin=(0, 0, 100))
self.traces = dict()
self.app = QtGui.QApplication(sys.argv)
self.w = gl.GLViewWidget()
self.w.opts['distance'] = 40
self.w.setWindowTitle('pyqtgraph Quadruped')
self.w.setGeometry(0, 110, 1920, 1080)
self.w.show()
self.setup()
class Visualizer(object):
def __init__(self):
global x, y, z, yaw, pitch, roll
x = y = z = yaw = pitch = roll = 0
self.robot = Quadruped(ax=self, origin=(0, 0, 100))
self.traces = dict()
self.app = QtGui.QApplication(sys.argv)
self.w = gl.GLViewWidget()
self.w.opts['distance'] = 40
self.w.setWindowTitle('pyqtgraph Quadruped')
self.w.setGeometry(0, 110, 1920, 1080)
self.w.show()
self.setup()
def setup(self):
gsz=400
gx = gl.GLGridItem()
gx.setSize(gsz,gsz,gsz)
gx.setSpacing(10,10,10)
gx.rotate(90, 0, 1, 0)
gx.translate(-gsz/2, 0, gsz/2)
self.w.addItem(gx)
gy = gl.GLGridItem()
gy.setSize(gsz,gsz,gsz)
gy.setSpacing(10,10,10)
gy.rotate(90, 1, 0, 0)
gy.translate(0, -gsz/2, gsz/2)
self.w.addItem(gy)
gz = gl.GLGridItem()
gz.setSize(gsz,gsz,gsz)
gz.setSpacing(10,10,10)
self.w.addItem(gz)
def start(self):
if (sys.flags.interactive != 1) or not hasattr(QtCore, 'PYQT_VERSION'):
QtGui.QApplication.instance().exec_()
def update(self):
global x, y, z, yaw, pitch, roll
self.w.clear()
self.setup()
self.robot.shift_body_rotation(-yaw, pitch,roll)
self.robot.draw_body()
def animation(self):
timer = QtCore.QTimer()
timer.timeout.connect(self.update)
timer.start(1)
self.start()
def __init__(self):
global x, y, z, yaw, pitch, roll, cl, r, count
count = r = x = y = z = yaw = pitch = roll = cl = 0
self.robot = Quadruped(ax=self, origin=(0, 0, 100))
self.r2 = Quadruped(ax=self, origin=(0, 0, 100))
self.px = x
self.py = y
self.pz = z
self.pyaw = yaw
self.ppitch = pitch
self.proll = roll
self.traces = dict()
self.app = QtGui.QApplication(sys.argv)
self.w = gl.GLViewWidget()
self.w.opts['distance'] = 700
self.w.setWindowTitle('pyqtgraph Quadruped')
self.w.setGeometry(0, 110, 1400, 1000)
self.w.show()
self.setup()
x = y = z = yaw = pitch = roll = 0
WINDOW_SIZE = 500
ANIMATE_INTERVAL = 50
start_height = 170
ax.set_xlim3d(-WINDOW_SIZE / 2, WINDOW_SIZE / 2)
ax.set_ylim3d(-WINDOW_SIZE / 2, WINDOW_SIZE / 2)
ax.set_zlim3d(-start_height, WINDOW_SIZE - start_height)
ax.set_xlabel('x (mm)')
ax.set_ylabel('y (mm)')
ax.set_zlabel('z (mm)')
# Setting up Quadruped
robot = Quadruped(ax=ax, origin=(0, 0, 0))
class MyController(Controller):
global switch, buffer, inc, x, y, z, yaw, pitch, roll
def __init__(self, **kwargs):
Controller.__init__(self, **kwargs)
def on_x_press(self):
print("Hello world")
animate()
def on_x_release(self):
print("Goodbye world")
class Visualizer(object):
def __init__(self):
global x, y, z, yaw, pitch, roll, cl, r, count
count = r = x = y = z = yaw = pitch = roll = cl = 0
self.robot = Quadruped(ax=self, origin=(0, 0, 100))
self.r2 = Quadruped(ax=self, origin=(0, 0, 100))
self.px = x
self.py = y
self.pz = z
self.pyaw = yaw
self.ppitch = pitch
self.proll = roll
self.traces = dict()
self.app = QtGui.QApplication(sys.argv)
self.w = gl.GLViewWidget()
self.w.opts['distance'] = 700
self.w.setWindowTitle('pyqtgraph Quadruped')
self.w.setGeometry(0, 110, 1400, 1000)
self.w.show()
self.setup()
def setup(self):
gsz=400
gsp=10
gx = gl.GLGridItem(color=(255, 255, 255, 60))
gx.setSize(gsz,gsz,gsz)
gx.setSpacing(gsp,gsp,gsp)
gx.rotate(90, 0, 1, 0)
gx.translate(-gsz/2, 0, gsz/2)
self.w.addItem(gx)
gy = gl.GLGridItem(color=(255, 255, 255, 60))
gy.setSize(gsz,gsz,gsz)
gy.setSpacing(gsp,gsp,gsp)
gy.rotate(90, 1, 0, 0)
gy.translate(0, -gsz/2, gsz/2)
self.w.addItem(gy)
gz = gl.GLGridItem(color=(255, 255, 255, 100))
gz.setSize(gsz,gsz,gsz)
gz.setSpacing(gsp,gsp,gsp)
self.w.addItem(gz)
def start(self):
if (sys.flags.interactive != 1) or not hasattr(QtCore, 'PYQT_VERSION'):
QtGui.QApplication.instance().exec_()
def update(self):
global x, y, z, yaw, pitch, roll, r, cl, count
count+=1
del self.w.items [:]
if cl:
sys.exit(0)
self.w.clear()
self.setup()
pts = np.array([[-127.5, -110,0], [127.5, -110,0],[127.5, 110,0],[-127.5, 110,0]])
self.r2.shift_body_rotation(yaw, pitch, roll, 0)
self.r2.shift_body_translation(x, y, z, 0)
self.r2.draw_legs(pts, 0)
if self.r2.flag == 1:
x = self.px
y = self.py
z = self.pz
yaw = self.pyaw
pitch = self.ppitch
roll = self.proll
self.r2.flag = 0
else:
self.robot.shift_body_rotation(yaw, pitch, roll, 1)
self.robot.shift_body_translation(x, y, z, 1)
self.px = x
self.py = y
self.pz = z
self.pyaw = yaw
self.ppitch = pitch
self.proll = roll
#self.robot.reset(r)
self.robot.draw_body()
#self.w.addItem(gl.GLScatterPlotItem(pos=pts, color=pg.glColor((4, 5)), size=7))
self.robot.draw_legs(pts, 1)
def animation(self):
timer = QtCore.QTimer()
timer.timeout.connect(self.update)
timer.start(1)
self.start()