Python Animation示例

示例#1

文件： ex1_InvertedPendulumTranslation.py 项目： gruberth/pytrajectory

    image.lines.append(rod)
    image.patches.append(sphere)
    image.patches.append(cart)
    image.patches.append(joint)

    return image


if not 'no-pickle' in sys.argv:
    # here we save the simulation results so we don't have to run
    # the iteration again in case the following fails
    S.save(fname='ex1_InvertedPendulumTranslation.pcl')

if 'plot' in sys.argv or 'animate' in sys.argv:
    A = Animation(drawfnc=draw,
                  simdata=S.sim_data,
                  plotsys=[(0, 'x'), (2, 'phi')],
                  plotinputs=[(0, 'u')])

    xmin = np.min(S.sim_data[1][:, 0])
    xmax = np.max(S.sim_data[1][:, 0])
    A.set_limits(xlim=(xmin - 0.5, xmax + 0.5), ylim=(-0.3, 0.8))

if 'plot' in sys.argv:
    A.show(t=S.b)

if 'animate' in sys.argv:
    A.animate()
    A.save('ex1_InvertedPendulumTranslation.gif')

示例#2

    # pendulums
    sphere1 = mpl.patches.Circle((x1, y1), 0.01, color='k')
    sphere2 = mpl.patches.Circle((0, 0), 0.01, color='k')

    image.lines.append(rod1)
    image.lines.append(rod2)
    image.patches.append(sphere1)
    image.patches.append(sphere2)

    return image


if not 'no-pickle' in sys.argv:
    # here we save the simulation results so we don't have to run
    # the iteration again in case the following fails
    S.save(fname='ex5_Acrobot.pcl')

if 'plot' in sys.argv or 'animate' in sys.argv:
    A = Animation(drawfnc=draw,
                  simdata=S.sim_data,
                  plotsys=[(0, 'phi1'), (2, 'phi2')],
                  plotinputs=[(0, 'u')])
    A.set_limits(xlim=(-1.1, 1.1), ylim=(-1.1, 1.1))

if 'plot' in sys.argv:
    A.show(t=S.b)

if 'animate' in sys.argv:
    A.animate()
    A.save('ex5_Acrobot.gif')

示例#3

                mpl.lines.Line2D(xdata=[x_car, x_p[0]],
                                 ydata=[y_car, y_p[0]],
                                 color='black',
                                 zorder=1,
                                 linewidth=2.0))
        else:
            image.lines.append(
                mpl.lines.Line2D(xdata=[x_p[i - 1], x_p[i]],
                                 ydata=[y_p[i - 1], y_p[i]],
                                 color='black',
                                 zorder=1,
                                 linewidth=2.0))
    # and return the image
    return image


# create Animation object
A = Animation(drawfnc=draw,
              simdata=S.sim_data,
              plotsys=[(3, '$x$'), (7, '$\\dot{x}$')],
              plotinputs=[(0, '$u$')])
xmin = 0
xmax = 0
A.set_limits(xlim=(xmin - 1.5, xmax + 1.5), ylim=(-2.0, 2.0))

if 'plot' in sys.argv:
    A.show(t=S.b)
if 0:
    A.animate()
    A.save('images/TriplePendulum' + str(Tb) + '.gif')

示例#4

文件： ex2_InvertedDualPendulumSwingUp.py 项目： and2345/pytrajectory

    rod2 = mpl.lines.Line2D([x_car,x_pendel2],[y_car,y_pendel2],color='0.3',zorder=1,linewidth=2.0)
    
    image.patches.append(sphere1)
    image.patches.append(sphere2)
    image.patches.append(car)
    image.patches.append(joint)
    image.lines.append(rod1)
    image.lines.append(rod2)
    
    return image

if not 'no-pickle' in sys.argv:
    # here we save the simulation results so we don't have to run
    # the iteration again in case the following fails
    S.save(fname='ex2_InvertedDualPendulumSwingUp.pcl')

if 'plot' in sys.argv or 'animate' in sys.argv:
    A = Animation(drawfnc=draw, simdata=S.sim_data,
                  plotsys=[(0,'x'),(2,'phi1'),(4,'phi2')], plotinputs=[(0,'u')])

    xmin = np.min(S.sim_data[1][:,0])
    xmax = np.max(S.sim_data[1][:,0])
    A.set_limits(xlim=(xmin - 1.0, xmax + 1.0), ylim=(-0.8,0.8))

if 'plot' in sys.argv:
    A.show(t=S.b)

if 'animate' in sys.argv:
    A.animate()
    A.save('ex2_InvertedDualPendulumSwingUp.gif')

示例#5

                                 zorder=1,
                                 linewidth=2.0))
        else:
            image.lines.append(
                mpl.lines.Line2D(xdata=[x_p[i - 1], x_p[i]],
                                 ydata=[y_p[i - 1], y_p[i]],
                                 color='black',
                                 zorder=1,
                                 linewidth=2.0))
    # and return the image
    return image


# create Animation object
A = Animation(drawfnc=draw,
              simdata=S.sim_data,
              plotsys=[(0, r'$\varphi_1$'), (3, '$x$'), (7, '$\\dot{x}$')],
              plotinputs=[(0, '$u$')])
xmin = 0
xmax = 0
A.set_limits(xlim=(xmin - 1.5, xmax + 1.5), ylim=(-2.0, 2.0))

# if 'plot' in sys.argv:

if 0:
    A.show(t=S.b)

if 1:
    A.animate()
    # plt.show()
    # A.save('TriplePendulum1.gif')
    A.save('TriplePendulum1.mp4')

示例#6

    image.patches.append(sphere2)
    image.patches.append(car)
    image.patches.append(joint)
    image.lines.append(rod1)
    image.lines.append(rod2)

    return image


if not 'no-pickle' in sys.argv:
    # here we save the simulation results so we don't have to run
    # the iteration again in case the following fails
    S.save(fname='ex2_InvertedDualPendulumSwingUp.pcl')

if 'plot' in sys.argv or 'animate' in sys.argv:
    A = Animation(drawfnc=draw,
                  simdata=S.sim_data,
                  plotsys=[(0, 'x'), (2, 'phi1'), (4, 'phi2')],
                  plotinputs=[(0, 'u')])

    xmin = np.min(S.sim_data[1][:, 0])
    xmax = np.max(S.sim_data[1][:, 0])
    A.set_limits(xlim=(xmin - 1.0, xmax + 1.0), ylim=(-0.8, 0.8))

if 'plot' in sys.argv:
    A.show(t=S.b)

if 'animate' in sys.argv:
    A.animate()
    A.save('ex2_InvertedDualPendulumSwingUp.gif')

示例#7

文件： ex6_ConstrainedDoubleIntegrator.py 项目： and2345/pytrajectory

    
    x_car = x
    y_car = 0
    
    car = mpl.patches.Rectangle((x_car-0.5*car_width, y_car-car_heigth), car_width, car_heigth,
                                fill=True, facecolor='grey', linewidth=2.0)
    
    image.patches.append(car)
    
    return image

if not 'no-pickle' in sys.argv:
    # here we save the simulation results so we don't have to run
    # the iteration again in case the following fails
    S.save(fname='ex6_ConstrainedDoubleIntegrator.pcl')

if 'plot' in sys.argv or 'animate' in sys.argv:
    A = Animation(drawfnc=draw, simdata=S.sim_data,
                        plotsys=[(0,'x'), (1,'dx')],
                        plotinputs=[(0,'u')])
    xmin = np.min(S.sim_data[1][:,0])
    xmax = np.max(S.sim_data[1][:,0])
    A.set_limits(xlim=(xmin - 0.1, xmax + 0.1), ylim=(-0.1,0.1))

if 'plot' in sys.argv:
    A.show(t=S.b)

if 'animate' in sys.argv:
    A.animate()
    A.save('ex6_ConstrainedDoubleIntegrator.gif')

示例#8

    rod1 = mpl.lines.Line2D([0,x1],[0,y1],color='k',zorder=0,linewidth=2.0)
    rod2 = mpl.lines.Line2D([x1,x2],[y1,y2],color='k',zorder=0,linewidth=2.0)
    
    # pendulums
    sphere1 = mpl.patches.Circle((x1,y1),0.01,color='k')
    sphere2 = mpl.patches.Circle((0,0),0.01,color='k')
    
    image.lines.append(rod1)
    image.lines.append(rod2)
    image.patches.append(sphere1)
    image.patches.append(sphere2)
    
    return image

if not 'no-pickle' in sys.argv:
    # here we save the simulation results so we don't have to run
    # the iteration again in case the following fails
    S.save(fname='ex4_UnderactuatedManipulator.pcl')

if 'plot' in sys.argv or 'animate' in sys.argv:
    A = Animation(drawfnc=draw, simdata=S.sim_data,
                  plotsys=[(0,'phi1'), (2,'phi2')], plotinputs=[(0,'u')])
    A.set_limits(xlim= (-0.1,0.6), ylim=(-0.4,0.65))

if 'plot' in sys.argv:
    A.show(t=S.b)

if 'animate' in sys.argv:
    A.animate()
    A.save('ex4_UnderactuatedManipulator.gif')

示例#9

                                car_heigth,
                                fill=True,
                                facecolor='grey',
                                linewidth=2.0)

    image.patches.append(car)

    return image


if not 'no-pickle' in sys.argv:
    # here we save the simulation results so we don't have to run
    # the iteration again in case the following fails
    S.save(fname='ex6_ConstrainedDoubleIntegrator.pcl')

if 'plot' in sys.argv or 'animate' in sys.argv:
    A = Animation(drawfnc=draw,
                  simdata=S.sim_data,
                  plotsys=[(0, 'x'), (1, 'dx')],
                  plotinputs=[(0, 'u')])
    xmin = np.min(S.sim_data[1][:, 0])
    xmax = np.max(S.sim_data[1][:, 0])
    A.set_limits(xlim=(xmin - 0.1, xmax + 0.1), ylim=(-0.1, 0.1))

if 'plot' in sys.argv:
    A.show(t=S.b)

if 'animate' in sys.argv:
    A.animate()
    A.save('ex6_ConstrainedDoubleIntegrator.gif')

示例#10

文件： ex8_ConstrainedDoublePendulum.py 项目： and2345/pytrajectory

    # add the patches and lines to the image
    image.patches.append(pendulum1)
    image.patches.append(pendulum2)
    image.patches.append(car)
    image.patches.append(joint)
    image.lines.append(rod1)
    image.lines.append(rod2)

    # and return the image
    return image

if not 'no-pickle' in sys.argv:
    # here we save the simulation results so we don't have to run
    # the iteration again in case the following fails
    S.save(fname='ex8_ConstrainedDoublePendulum.pcl')

if 'plot' in sys.argv or 'animate' in sys.argv:
    # create Animation object
    A = Animation(drawfnc=draw, simdata=S.sim_data,
                  plotsys=[(0,'$x$'),(1,'$\\dot{x}$')], plotinputs=[(0,'$u$')])
    xmin = np.min(S.sim_data[1][:,0])
    xmax = np.max(S.sim_data[1][:,0])
    A.set_limits(xlim=(xmin - 1.0, xmax + 1.0), ylim=(-1.2,1.2))
    
if 'plot' in sys.argv:
    A.show(t=S.b)

if 'animate' in sys.argv:
    A.animate()
    A.save('ex8_ConstrainedDoublePendulum.gif')

示例#11

文件： time_dependent_double_integrator.py 项目： gruberth/pytrajectory

    car_width = 0.05
    car_heigth = 0.02

    x_car = x
    y_car = 0

    car = mpl.patches.Rectangle((x_car - 0.5 * car_width, y_car - car_heigth),
                                car_width,
                                car_heigth,
                                fill=True,
                                facecolor='grey',
                                linewidth=2.0)

    image.patches.append(car)

    return image


if 'plot' in sys.argv or 'animate' in sys.argv:
    A = Animation(drawfnc=draw,
                  simdata=S.sim_data,
                  plotsys=[(0, 'x'), (1, 'dx')],
                  plotinputs=[(0, 'u')])
    xmin = np.min(S.sim_data[1][:, 0])
    xmax = np.max(S.sim_data[1][:, 0])
    A.set_limits(xlim=(xmin - 0.1, xmax + 0.1), ylim=(-0.1, 0.1))

if 'plot' in sys.argv:
    A.show(t=S.b)

示例#12

    image.patches.append(car)
    image.patches.append(joint)
    image.lines.append(rod1)
    image.lines.append(rod2)

    # and return the image
    return image


if not 'no-pickle' in sys.argv:
    # here we save the simulation results so we don't have to run
    # the iteration again in case the following fails
    S.save(fname='ex8_ConstrainedDoublePendulum.pcl')

if 'plot' in sys.argv or 'animate' in sys.argv:
    # create Animation object
    A = Animation(drawfnc=draw,
                  simdata=S.sim_data,
                  plotsys=[(0, '$x$'), (1, '$\\dot{x}$')],
                  plotinputs=[(0, '$u$')])
    xmin = np.min(S.sim_data[1][:, 0])
    xmax = np.max(S.sim_data[1][:, 0])
    A.set_limits(xlim=(xmin - 1.0, xmax + 1.0), ylim=(-1.2, 1.2))

if 'plot' in sys.argv:
    A.show(t=S.b)

if 'animate' in sys.argv:
    A.animate()
    A.save('ex8_ConstrainedDoublePendulum.gif')

示例#13

文件： ex9_TriplePendulum.py 项目： and2345/pytrajectory

    
    # then the pendulums
    for i in xrange(3):
        image.patches.append( mpl.patches.Circle(xy=(x_p[i], y_p[i]), 
                                                 radius=pendulum_sizes[i], 
                                                 color='black') )
        
        if i == 0:
            image.lines.append( mpl.lines.Line2D(xdata=[x_car, x_p[0]], ydata=[y_car, y_p[0]],
                                                 color='black', zorder=1, linewidth=2.0) )
        else:
            image.lines.append( mpl.lines.Line2D(xdata=[x_p[i-1], x_p[i]], ydata=[y_p[i-1], y_p[i]],
                                                 color='black', zorder=1, linewidth=2.0) )
    # and return the image
    return image

# create Animation object
if 'plot' in sys.argv or 'animate' in sys.argv:
    A = Animation(drawfnc=draw, simdata=S.sim_data,
                  plotsys=[(0,'$x$'),(1,'$\\dot{x}$')], plotinputs=[(0,'$u$')])
    xmin = np.min(S.sim_data[1][:,0])
    xmax = np.max(S.sim_data[1][:,0])
    A.set_limits(xlim=(xmin - 1.5, xmax + 1.5), ylim=(-2.0,2.0))

if 'plot' in sys.argv:
    A.show(t=S.b)
    
if 'animate' in sys.argv:
    A.animate()
    A.save('ex9_TriplePendulum.gif')

示例#14

文件： ex_n_bar_pend.py 项目： and2345/pytrajectory

                        mpl.lines.Line2D(xdata=[x_car, x_p[0]],
                                         ydata=[y_car, y_p[0]],
                                         color='black',
                                         zorder=1,
                                         linewidth=2.0))
                else:
                    image.lines.append(
                        mpl.lines.Line2D(xdata=[x_p[i - 1], x_p[i]],
                                         ydata=[y_p[i - 1], y_p[i]],
                                         color='black',
                                         zorder=1,
                                         linewidth=2.0))
            # and return the image
            return image

        # return the drawing function
        return draw

    # create Animation object
    A = Animation(drawfnc=create_draw_function(N=N), simdata=S.sim)
    xmin = np.min(S.sim[1][:, 0])
    xmax = np.max(S.sim[1][:, 0])
    A.set_limits(xlim=(xmin - 1.5, xmax + 1.5), ylim=(-2.0, 2.0))

    if 'plot' in sys.argv:
        A.show(t=S.b)

    if 'animate' in sys.argv:
        A.animate()
        A.save('ex_n_bar_pendulum.gif')

示例#15

文件： ex5_Acrobot.py 项目： and2345/pytrajectory

    rod1 = mpl.lines.Line2D([0,x1],[0,y1],color='k',zorder=0,linewidth=2.0)
    rod2 = mpl.lines.Line2D([x1,x2],[y1,y2],color='0.3',zorder=0,linewidth=2.0)
    
    # pendulums
    sphere1 = mpl.patches.Circle((x1,y1),0.01,color='k')
    sphere2 = mpl.patches.Circle((0,0),0.01,color='k')
    
    image.lines.append(rod1)
    image.lines.append(rod2)
    image.patches.append(sphere1)
    image.patches.append(sphere2)
    
    return image

if not 'no-pickle' in sys.argv:
    # here we save the simulation results so we don't have to run
    # the iteration again in case the following fails
    S.save(fname='ex5_Acrobot.pcl')

if 'plot' in sys.argv or 'animate' in sys.argv:
    A = Animation(drawfnc=draw, simdata=S.sim_data,
                  plotsys=[(0,'phi1'),(2,'phi2')], plotinputs=[(0,'u')])
    A.set_limits(xlim=(-1.1,1.1), ylim=(-1.1,1.1))
    
if 'plot' in sys.argv:
    A.show(t=S.b)

if 'animate' in sys.argv:
    A.animate()
    A.save('ex5_Acrobot.gif')

示例#16

文件： ex1_InvertedPendulumTranslation.py 项目： and2345/pytrajectory

    
    # joint
    joint = mpl.patches.Circle((x_car,0),0.005,color='k')
    
    image.lines.append(rod)
    image.patches.append(sphere)
    image.patches.append(cart)
    image.patches.append(joint)
    
    return image

if not 'no-pickle' in sys.argv:
    # here we save the simulation results so we don't have to run
    # the iteration again in case the following fails
    S.save(fname='ex1_InvertedPendulumTranslation.pcl')

if 'plot' in sys.argv or 'animate' in sys.argv:
    A = Animation(drawfnc=draw, simdata=S.sim_data,
                  plotsys=[(0,'x'), (2,'phi')], plotinputs=[(0,'u')])

    xmin = np.min(S.sim_data[1][:,0])
    xmax = np.max(S.sim_data[1][:,0])
    A.set_limits(xlim=(xmin - 0.5,xmax + 0.5), ylim=(-0.3,0.8))

if 'plot' in sys.argv:
    A.show(t=S.b)

if 'animate' in sys.argv:
    A.animate()
    A.save('ex1_InvertedPendulumTranslation.gif')

示例#17

文件： ex0_InvertedPendulumSwingUp.py 项目： and2345/pytrajectory

    # and return the image
    return image

if not 'no-pickle' in sys.argv:
    # here we save the simulation results so we don't have to run
    # the iteration again in case the following fails
    S.save(fname='ex0_InvertedPendulumSwingUp.pcl')

# now we can create an instance of the `Animation` class 
# with our draw function and the simulation results
#
# to plot the curves of some trajectories along with the picture
# we also pass the appropriate lists as arguments (see documentation)
if 'plot' in sys.argv or 'animate' in sys.argv:
    A = Animation(drawfnc=draw, simdata=S.sim_data, 
                  plotsys=[(0,'x'), (2,'phi')], plotinputs=[(0,'u')])

    # as for now we have to explicitly set the limits of the figure
    # (may involves some trial and error)
    xmin = np.min(S.sim_data[1][:,0]); xmax = np.max(S.sim_data[1][:,0])
    A.set_limits(xlim=(xmin - 0.5, xmax + 0.5), ylim=(-0.6,0.6))

if 'plot' in sys.argv:
    A.show(t=S.b)

if 'animate' in sys.argv:
    # if everything is set, we can start the animation
    # (might take some while)
    A.animate()

    # then we can save the animation as a `mp4` video file or as an animated `gif` file

示例#18

    xx = S[:, 0].copy()
    yy = S[:, 1].copy()

    S[:, 0] = xx * cos(theta) - yy * sin(theta) + x
    S[:, 1] = yy * cos(theta) + xx * sin(theta) + y

    aircraft = mpl.patches.Polygon(S, closed=True, facecolor='0.75')
    image.patches.append(aircraft)

    return image


if not 'no-pickle' in sys.argv:
    # here we save the simulation results so we don't have to run
    # the iteration again in case the following fails
    S.save(fname='ex3_Aircraft.pcl')

if 'plot' in sys.argv or 'animate' in sys.argv:
    A = Animation(drawfnc=draw,
                  simdata=S.sim_data,
                  plotsys=[(4, 'theta')],
                  plotinputs=[(0, 'F1'), (1, 'F2')])
    A.set_limits(xlim=(-1, 11), ylim=(-1, 7))

if 'plot' in sys.argv:
    A.show(t=S.b)

if 'animate' in sys.argv:
    A.animate()
    A.save('ex3_Aircraft.gif')

示例#19

文件： ex3_Aircraft.py 项目： and2345/pytrajectory

                      [ 0.7,  0],
                      [ 0.1,  0.1]])

    xx = S[:,0].copy()
    yy = S[:,1].copy()

    S[:,0] = xx*cos(theta)-yy*sin(theta)+x
    S[:,1] = yy*cos(theta)+xx*sin(theta)+y

    aircraft = mpl.patches.Polygon(S, closed=True, facecolor='0.75')
    image.patches.append(aircraft)
    
    return image

if not 'no-pickle' in sys.argv:
    # here we save the simulation results so we don't have to run
    # the iteration again in case the following fails
    S.save(fname='ex3_Aircraft.pcl')

if 'plot' in sys.argv or 'animate' in sys.argv:
    A = Animation(drawfnc=draw, simdata=S.sim_data,
                  plotsys=[(4,'theta')], plotinputs=[(0,'F1'),(1,'F2')])
    A.set_limits(xlim=(-1,11), ylim=(-1,7))

if 'plot' in sys.argv:
    A.show(t=S.b)

if 'animate' in sys.argv:
    A.animate()
    A.save('ex3_Aircraft.gif')

示例#20

文件： InvertedPendulumSwingUp_load_data.py 项目： gruberth/pytrajectory

    # finally we add the patches and line to the image
    image.patches.append(pendulum)
    image.patches.append(car)
    image.patches.append(joint)
    image.lines.append(rod)

    # and return the image
    return image

sol_data = tt, xx, uu

# to plot the curves of some trajectories along with the picture
# we also pass the appropriate lists as arguments (see documentation)

A = Animation(drawfnc=draw, simdata=sol_data,
              plotsys=[(0,'x'), (2,'phi')], plotinputs=[(0,'u')])

# as for now we have to explicitly set the limits of the figure
# (may involve some trial and error)
xmin = np.min(xx[:,0]); xmax = np.max(xx[:,0])
A.set_limits(xlim=(xmin - 0.5, xmax + 0.5), ylim=(-0.6,0.6))


if 'animate' in sys.argv:
    # if everything is set, we can start the animation
    # (might take some while)
    A.animate()

    # then we can save the animation as a `mp4` video file or as an animated `gif` file
    A.save('InvertedPendulum.gif')

示例#21

                           linewidth=2.0)

    image.patches.append(pendulum)
    image.patches.append(car)
    image.patches.append(joint)
    image.lines.append(rod)

    return image


if not 'no-pickle' in sys.argv:
    # here we save the simulation results so we don't have to run
    # the iteration again in case the following fails
    S.save(fname='ex7_ConstrainedInvertedPendulum.pcl')

if 'plot' in sys.argv or 'animate' in sys.argv:
    A = Animation(drawfnc=draw,
                  simdata=S.sim_data,
                  plotsys=[(0, 'x'), (1, 'dx')],
                  plotinputs=[(0, 'u1')])
    xmin = np.min(S.sim_data[1][:, 0])
    xmax = np.max(S.sim_data[1][:, 0])
    A.set_limits(xlim=(xmin - 0.5, xmax + 0.5), ylim=(-0.6, 0.6))

if 'plot' in sys.argv:
    A.show(t=S.b)

if 'animate' in sys.argv:
    A.animate()
    A.save('ex7_ConstrainedInvertedPendulum.gif')

示例#22

# now we can create an instance of the `Animation` class
# with our draw function and the simulation results

# save the simulation data (solution of IVP) to csv
tt, xx, uu = S.sim_data
export_array = np.hstack((tt.reshape(-1, 1), xx, uu))
np.savetxt("pendulum.csv", export_array, delimiter=",")

# first column: time
# next n columns: state (here n = 4)
# last m columns: input (here m = 1)

# to plot the curves of some trajectories along with the picture
# we also pass the appropriate lists as arguments (see documentation)
A = Animation(drawfnc=draw,
              simdata=S.sim_data,
              plotsys=[(0, 'x'), (2, 'phi')],
              plotinputs=[(0, 'u')])

# as for now we have to explicitly set the limits of the figure
# (may involves some trial and error)
xmin = np.min(S.sim_data[1][:, 0])
xmax = np.max(S.sim_data[1][:, 0])
A.set_limits(xlim=(xmin - 0.5, xmax + 0.5), ylim=(-0.6, 0.6))

A.animate()

# then we can save the animation as a `mp4` video file or as an animated `gif` file
A.save('pendulum.mp4')