def create_artists(self, legend, orig_handle, xdescent, ydescent, width,
height, fontsize, trans):
p = FancyArrowPatch(posA=(-xdescent - (width / 10),
-ydescent + height / 2),
posB=(-xdescent + width + (width / 10),
-ydescent + height / 2),
mutation_scale=height * 1.5)
self.update_prop(p, orig_handle, legend)
p.set_transform(trans)
return [p]
def create_artists(self, legend, orig_handle, xdescent, ydescent, width,
height, fontsize, trans):
xdata, xdata_marker = self.get_xdata(legend, xdescent, ydescent, width,
height, fontsize)
ydata = ((height - ydescent) / 2.) * np.ones(xdata.shape, float)
legline = FancyArrowPatch(posA=(xdata[0], ydata[0]),
posB=(xdata[-1], ydata[-1]),
mutation_scale=self.ms,
**orig_handle.arrowprops)
legline.set_transform(trans)
return legline,
def create_photon_legend(self, legend, orig_handle,
xdescent, ydescent, width, height, fontsize,
trans):
xdata, ydata = get_photon_data2D(width, 0.8*height, 3, 100)
ydata += height*0.3
legline = Line2D(xdata, ydata)
self.update_prop(legline, orig_handle, legend)
legline.set_drawstyle('default')
legline.set_marker("")
legline.set_transform(trans)
yar = FancyArrowPatch((xdata[3],ydata[0]), (xdata[3]+0.3*width, ydata[0]),
mutation_scale=10,
lw=1, arrowstyle="-|>", color='y')
yar.set_transform(trans)
return [legline, yar]
def display_bicycle_wheels(rear_wheel, front_wheel, theta):
# Initialize figure
fig = plt.figure(figsize=(5, 5))
ax = plt.gca()
ax.set_xlim([0,4])
ax.set_ylim([0,4])
ax.tick_params(axis='both', which='major', labelsize=7)
plt.title('Overhead View')
plt.xlabel('X (m)',weight='bold')
plt.ylabel('Y (m)',weight='bold')
ax.plot(0,0)
rear_wheel_x = FancyArrowPatch((0,0), (0.4,0),
mutation_scale=8,color='red')
rear_wheel_y = FancyArrowPatch((0,0), (0,0.4),
mutation_scale=8,color='red')
front_wheel_x = FancyArrowPatch((0,0), (0.4,0),
mutation_scale=8,color='blue')
front_wheel_y = FancyArrowPatch((0,0), (0,0.4),
mutation_scale=8,color='blue')
custom_lines = [Line2D([0], [0], color='red', lw=4),
Line2D([0], [0], color='blue', lw=4)]
# Apply translation and rotation as specified by current robot state
cos_theta, sin_theta = np.cos(theta), np.sin(theta)
Tw_rear = np.eye(3)
Tw_rear[0:2,2] = rear_wheel
Tw_rear[0:2,0:2] = [[cos_theta,-sin_theta],[sin_theta,cos_theta]]
Tw_rear_obj = transforms.Affine2D(Tw_rear)
Tw_front = np.eye(3)
Tw_front[0:2,2] = front_wheel
Tw_front[0:2,0:2] = [[cos_theta,-sin_theta],[sin_theta,cos_theta]]
Tw_front_obj = transforms.Affine2D(Tw_front)
ax_trans = ax.transData
rear_wheel_x.set_transform(Tw_rear_obj+ax_trans)
rear_wheel_y.set_transform(rear_wheel_x.get_transform())
ax.add_patch(rear_wheel_x)
ax.add_patch(rear_wheel_y)
front_wheel_x.set_transform(Tw_front_obj+ax_trans)
front_wheel_y.set_transform(front_wheel_x.get_transform())
ax.add_patch(front_wheel_x)
ax.add_patch(front_wheel_y)
ax.legend(custom_lines, ['Rear Wheel', 'Front Wheel'])
