def plotmeshval(val,ixmin=None,ixmax=None,iymin=None,iymax=None,
r_min=None,r_max=None,z_min=None,z_max=None,title=None,units=None,
block=True):
"""
plotmeshval(val,ixmin=<int>,ixmax=<int>,iymin=<int>,iymax=<int>
title=<string>,units=<string>,block=<True|False>)
Display 2-D quantity using polyfill.
where ixmin, ixmax, iymin, and iymax are integer variables or
expressions used to plot a portion of the grid. title is used as
both the title and the figure name. Units are displayed in the
side colorbar. Block default is True.
The plot axis limits may be specified with r_rmin,r_max,z_min,z_max.
"""
if ixmin == None: ixmin = com.nxomit
if ixmax == None: ixmax = (com.nxm-1)
if iymin == None: iymin = 0
if iymax == None: iymax = (com.ny-1)
if r_min == None: r_min = com.rm.min()
if r_max == None: r_max = com.rm.max()
if z_min == None: z_min = com.zm.min()
if z_max == None: z_max = com.zm.max()
rcdefaults()
if title == None:
title='Uedge'
fig, ax = plt.subplots()
verts = np.array([])
z = np.array([])
for ix in range(ixmax-ixmin+1):
for iy in range(iymax-iymin+1):
v = []
v.append([com.rm[ix,iy,1],com.zm[ix,iy,1]])
v.append([com.rm[ix,iy,2],com.zm[ix,iy,2]])
v.append([com.rm[ix,iy,4],com.zm[ix,iy,4]])
v.append([com.rm[ix,iy,3],com.zm[ix,iy,3]])
verts = np.append(verts,v)
z = np.append(z,val[ix,iy])
verts = verts.reshape(len(z),4,2)
ax.set_title(title)
ax.set_ylabel('Z (m)')
ax.set_xlabel('R (m)')
ax.set_aspect('equal')
coll = PolyCollection(verts,array=z,cmap=cm.jet,edgecolors='face')
ax.add_collection(coll)
ax.autoscale_view()
cbar = fig.colorbar(coll,ax=ax)
#if units != None: cbar.ax.set_ylabel(units,rotation=-90,va='bottom')
if units != None: cbar.ax.set_ylabel(units,va='bottom')
plt.ylim(z_min,z_max)
plt.xlim(r_min,r_max)
#plt.show(block=block)
plt.ion()
plt.show()
plt.pause(0.001)
def set_visible_area(point_dict, axes):
min_x = 10e9
min_y = 10e9
max_x = -10e9
max_y = -10e9
for id, point in dict_utils.get_item_iterator(point_dict):
min_x = min(point.x, min_x)
min_y = min(point.y, min_y)
max_x = max(point.x, max_x)
max_y = max(point.y, max_y)
axes.set_aspect('equal', adjustable='box')
axes.set_xlim([min_x - 10, max_x + 10])
axes.set_ylim([min_y - 10, max_y + 10])
def set_visible_area(laneletmap, axes):
min_x = 10e9
min_y = 10e9
max_x = -10e9
max_y = -10e9
for point in laneletmap.pointLayer:
min_x = min(point.x, min_x)
min_y = min(point.y, min_y)
max_x = max(point.x, max_x)
max_y = max(point.y, max_y)
axes.set_aspect('equal', adjustable='box')
axes.set_xlim([min_x - 10, max_x + 10])
axes.set_ylim([min_y - 10, max_y + 10])
theta = np.linspace(-4 * np.pi, 4 * np.pi, 100)
z = np.linspace(-2, 2, 100)
r = z**2 + 1
x = r * np.sin(theta)
y = r * np.cos(theta)
ax.plot(r_ECI[:, 0] / 1000,
r_ECI[:, 1] / 1000,
r_ECI[:, 2] / 1000,
label='Orbital Position',
color='k')
# Sphere to represent Earth
# Make data
u = np.linspace(0, 2 * np.pi, 100)
v = np.linspace(0, np.pi, 100)
x1 = rEarth / 1000 * np.outer(np.cos(u), np.sin(v))
y1 = rEarth / 1000 * np.outer(np.sin(u), np.sin(v))
z1 = rEarth / 1000 * np.outer(np.ones(np.size(u)), np.cos(v))
# Plot the surface
ax.plot_surface(x1, y1, z1, cmap='GnBu')
# Legend and labels
ax.legend()
ax.set_xlabel('X Pos (km)')
ax.set_ylabel('Y Pos (km)')
ax.set_zlabel('Z Pos (km)')
ax.set_aspect('equal')
plt.show()
def draw_map_without_lanelet(filename, axes, lat_origin, lon_origin):
assert isinstance(axes, matplotlib.axes.Axes)
axes.set_aspect('equal', adjustable='box')
axes.patch.set_facecolor('lightgrey')
projector = LL2XYProjector(lat_origin, lon_origin)
e = xml.parse(filename).getroot()
point_dict = dict()
for node in e.findall("node"):
point = Point()
point.x, point.y = projector.latlon2xy(float(node.get('lat')), float(node.get('lon')))
point_dict[int(node.get('id'))] = point
set_visible_area(point_dict, axes)
unknown_linestring_types = list()
for way in e.findall('way'):
way_type = get_type(way)
if way_type is None:
raise RuntimeError("Linestring type must be specified")
elif way_type == "curbstone":
type_dict = dict(color="black", linewidth=1, zorder=10)
elif way_type == "line_thin":
way_subtype = get_subtype(way)
if way_subtype == "dashed":
type_dict = dict(color="white", linewidth=1, zorder=10, dashes=[10, 10])
else:
type_dict = dict(color="white", linewidth=1, zorder=10)
elif way_type == "line_thick":
way_subtype = get_subtype(way)
if way_subtype == "dashed":
type_dict = dict(color="white", linewidth=2, zorder=10, dashes=[10, 10])
else:
type_dict = dict(color="white", linewidth=2, zorder=10)
elif way_type == "pedestrian_marking":
type_dict = dict(color="white", linewidth=1, zorder=10, dashes=[5, 10])
elif way_type == "bike_marking":
type_dict = dict(color="white", linewidth=1, zorder=10, dashes=[5, 10])
elif way_type == "stop_line":
type_dict = dict(color="white", linewidth=3, zorder=10)
elif way_type == "virtual":
type_dict = dict(color="blue", linewidth=1, zorder=10, dashes=[1, 1], alpha=0.2)
elif way_type == "road_border":
type_dict = dict(color="black", linewidth=1, zorder=10)
elif way_type == "guard_rail":
type_dict = dict(color="black", linewidth=1, zorder=10)
elif way_type == "traffic_sign":
continue
else:
if way_type not in unknown_linestring_types:
unknown_linestring_types.append(way_type)
continue
x_list, y_list = get_x_y_lists(way, point_dict)
plt.plot(x_list, y_list, **type_dict)
if len(unknown_linestring_types) != 0:
print("Found the following unknown types, did not plot them: " + str(unknown_linestring_types))
def draw_map_without_lanelet(filename, axes, lat_origin, lon_origin, scene=''):
assert isinstance(axes, matplotlib.axes.Axes)
axes.set_aspect('equal', adjustable='box')
axes.patch.set_facecolor('white')
projector = LL2XYProjector(lat_origin, lon_origin)
e = xml.parse(filename).getroot()
point_dict = dict()
for node in e.findall("node"):
point = Point()
point.x, point.y = projector.latlon2xy(float(node.get('lat')),
float(node.get('lon')))
point_dict[int(node.get('id'))] = point
min_x, max_x, min_y, max_y = set_visible_area(point_dict, axes)
unknown_linestring_types = list()
road_points = []
for way in e.findall('way'):
way_type = get_type(way)
if way_type is None:
raise RuntimeError("Linestring type must be specified")
elif way_type == "curbstone":
type_dict = dict(color="black", linewidth=1, zorder=10)
elif way_type == "line_thin":
way_subtype = get_subtype(way)
if way_subtype == "dashed":
type_dict = dict(color="blue",
linewidth=1,
zorder=10,
dashes=[10, 10])
else:
type_dict = dict(color="blue", linewidth=1, zorder=10)
elif way_type == "line_thick":
way_subtype = get_subtype(way)
if way_subtype == "dashed":
type_dict = dict(color="blue",
linewidth=2,
zorder=10,
dashes=[10, 10])
else:
type_dict = dict(color="blue", linewidth=2, zorder=10)
elif way_type == "pedestrian_marking":
type_dict = dict(color="red", linewidth=1, zorder=10)
elif way_type == "bike_marking":
type_dict = dict(color="blue",
linewidth=1,
zorder=10,
dashes=[5, 10])
elif way_type == "stop_line":
type_dict = dict(color="red", linewidth=3, zorder=10)
elif way_type == "virtual":
pass
type_dict = dict(color="blue",
linewidth=1,
zorder=10,
dashes=[2, 5])
elif way_type == "road_border":
pass
type_dict = dict(color="black", linewidth=1, zorder=10)
elif way_type == "guard_rail":
pass
type_dict = dict(color="black", linewidth=1, zorder=10)
elif way_type == "traffic_sign":
continue
else:
if way_type not in unknown_linestring_types:
unknown_linestring_types.append(way_type)
continue
x_list, y_list = get_x_y_lists(way, point_dict)
if way_type not in ["virtual", "road_border"]:
plt.plot(x_list, y_list, **type_dict)
if way_type == 'curbstone':
xy = [(x, y) for x, y in zip(x_list, y_list)]
flag = 0
for i, xy0 in enumerate(road_points):
if dis(xy[0], xy0[-1]) < 2:
road_points[i] += xy
flag = 1
break
elif dis(xy0[0], xy[-1]) < 2:
road_points[i] = xy + xy0
flag = 1
break
elif dis(xy[0], xy0[0]) < 2:
road_points[i] = xy[::-1] + xy0
flag = 1
break
elif dis(xy[-1], xy0[-1]) < 2:
road_points[i] = xy0 + xy[::-1]
flag = 1
break
if flag == 0:
road_points.append(xy)
road_points = link_road(road_points)
mdis = 25
for i, road in enumerate(road_points):
# print(road[0][0], min_x, max_x)
plt.scatter(road[0][0], road[0][1], zorder=30)
plt.scatter(road[-1][0], road[-1][1], zorder=30, c='r', alpha=0.5)
pre = None
post = None
corner_x = None
corner_y = None
if dis(road[0], road[-1]) < 5:
continue
left1 = road[0][0] - min_x
right1 = max_x - road[0][0]
top1 = max_y - road[0][1]
bottom1 = road[0][1] - min_y
min_dis1 = min([left1, right1, top1, bottom1])
left2 = road[-1][0] - min_x
right2 = max_x - road[-1][0]
top2 = max_y - road[-1][1]
bottom2 = road[-1][1] - min_y
min_dis2 = min([left2, right2, top2, bottom2])
if abs((road[1][1] - road[0][1]) / (road[1][0] - road[0][0])) > 10:
if road[0][1] > road[1][1]:
corner_y = max_y
if top1 < mdis:
x = (road[1][0] - road[0][0]) / (
road[1][1] - road[0][1]) * (corner_y -
road[1][1]) + road[1][0]
pre = [[x, max_y]]
else:
pre = [[road[0][0], max_y]]
else:
corner_y = min_y
if bottom1 < mdis:
x = (road[1][0] - road[0][0]) / (
road[1][1] - road[0][1]) * (corner_y -
road[1][1]) + road[1][0]
pre = [[x, min_y]]
else:
pre = [[road[0][0], min_y]]
else:
if left1 == min_dis1:
corner_x = min_x
if left1 < mdis:
y = (road[1][1] - road[0][1]) / (
road[1][0] - road[0][0]) * (corner_x -
road[1][0]) + road[1][1]
pre = [[min_x, y]]
else:
pre = [[min_x, road[0][1]]]
elif right1 == min_dis1:
corner_x = max_x
if right1 < mdis:
y = (road[1][1] - road[0][1]) / (
road[1][0] - road[0][0]) * (corner_x -
road[1][0]) + road[1][1]
pre = [[max_x, y]]
else:
pre = [[max_x, road[0][1]]]
elif bottom1 == min_dis1:
corner_y = min_y
if bottom1 < mdis:
x = (road[1][0] - road[0][0]) / (
road[1][1] - road[0][1]) * (corner_y -
road[1][1]) + road[1][0]
pre = [[x, min_y]]
else:
pre = [[road[0][0], min_y]]
elif top1 == min_dis1:
corner_y = max_y
if top1 < mdis:
x = (road[1][0] - road[0][0]) / (
road[1][1] - road[0][1]) * (corner_y -
road[1][1]) + road[1][0]
pre = [[x, max_y]]
else:
pre = [[road[0][0], max_y]]
# last
if abs((road[-2][1] - road[-1][1]) / (road[-2][0] - road[-1][0])) > 10:
if road[-1][1] > road[-2][1]:
corner_y = max_y
if top2 < mdis:
x = (road[-2][0] -
road[-1][0]) / (road[-2][1] - road[-1][1]) * (
corner_y - road[-2][1]) + road[-2][0]
post = [[x, max_y]]
else:
post = [[road[-1][0], max_y]]
else:
corner_y = min_y
if bottom2 < mdis:
x = (road[-2][0] -
road[-1][0]) / (road[-2][1] - road[-1][1]) * (
corner_y - road[-2][1]) + road[-2][0]
post = [[x, min_y]]
else:
post = [[road[-1][0], min_y]]
else:
if left2 == min_dis2:
corner_x = min_x
if left2 < mdis:
y = (road[-2][1] -
road[-1][1]) / (road[-2][0] - road[-1][0]) * (
corner_x - road[-2][0]) + road[-2][1]
post = [[min_x, y]]
else:
post = [[min_x, road[-1][1]]]
elif right2 == min_dis2:
corner_x = max_x
if right2 < mdis:
y = (road[-2][1] -
road[-1][1]) / (road[-2][0] - road[-1][0]) * (
corner_x - road[-2][0]) + road[-2][1]
post = [[max_x, y]]
else:
post = [[max_x, road[-1][1]]]
elif bottom2 == min_dis2:
corner_y = min_y
if bottom2 < mdis:
x = (road[-2][0] -
road[-1][0]) / (road[-2][1] - road[-1][1]) * (
corner_y - road[-2][1]) + road[-2][0]
post = [[x, min_y]]
else:
post = [[road[-1][0], min_y]]
elif top2 == min_dis2:
corner_y = max_y
if top2 < mdis:
x = (road[-2][0] -
road[-1][0]) / (road[-2][1] - road[-1][1]) * (
corner_y - road[-2][1]) + road[-2][0]
post = [[x, max_y]]
else:
post = [[road[-1][0], max_y]]
if pre:
road_points[i] = pre + road_points[i]
if post:
road_points[i] = road_points[i] + post
if pre and post:
road_points[i] += [[corner_x, corner_y]]
for xy in road_points:
area = matplotlib.patches.Polygon(xy, closed=True, color='lightgrey')
axes.add_patch(area)
if len(unknown_linestring_types) != 0:
print("Found the following unknown types, did not plot them: " +
str(unknown_linestring_types))
ax.plot([-10, 10], [0, 0], "b--")
ax.plot([0, 0], [-10, 10], "b--")
v3 = Vector(6, 6)
x = 31 / 180
rm = Matrix([cos(x), sin(x)], [-sin(x), cos(x)])
print(rm)
v3.plot(figure=ax)
colours = ["black"]
v4 = v3 * rm
v5 = v4 * rm
v6 = v5 * rm
for _ in range(10):
v4.plot(ch(colours), figure=ax)
v4 *= rm
#v5.plot("pink", figure = ax)
#v6.plot("green", figure = ax)
ax.set_aspect(1)
plt.legend(["x Axis", "y Axis", "Original", "Rotations"])
plt.show()
