def trplot2(self, end, start=None, **kwargs):
"""
Define the transform to animate
:param end: the final pose SO(2) or SE(2) to display as a coordinate frame
:type end: numpy.ndarray, shape=(2,2) or (3,3)
:param start: the initial pose SO(2) or SE(2) to display as a coordinate frame, defaults to null
:type start: numpy.ndarray, shape=(2,2) or (3,3)
Is polymorphic with ``base.trplot`` and accepts the same parameters.
This sets up the animation but doesn't execute it.
:seealso: :func:`run`
"""
# stash the final value
if tr.isrot2(end):
self.end = tr.r2t(end)
else:
self.end = end
if start is None:
self.start = np.identity(3)
else:
if tr.isrot2(start):
self.start = tr.r2t(start)
else:
self.start = start
# draw axes at the origin
tr.trplot2(self.start, axes=self, block=False, **kwargs)
def trplot2(self, Tf, T0=None, **kwargs):
"""
Define the transform to animate
:param T: an SO(3) or SE(3) pose to be displayed as coordinate frame
:type: numpy.ndarray, shape=(3,3) or (4,4)
Is polymorphic with ``base.trplot`` and accepts the same parameters.
This sets up the animation but doesn't execute it.
:seealso: :func:`run`
"""
# stash the final value
if tr.isrot2(Tf):
self.Tf = tr.r2t(Tf)
if T0 is None:
self.T0 = np.eye(3)
else:
self.T0 = tr.r2t(T0)
else:
self.Tf = Tf
if T0 is None:
self.T0 = np.eye(3)
else:
self.T0 = T0
# draw axes at the origin
tr.trplot2(np.eye(3), axes=self, **kwargs)
def isvalid(x, check=True):
"""
Test if matrix is valid SO(2)
:param x: matrix to test
:type x: numpy.ndarray
:return: True if the matrix is a valid element of SO(2), ie. it is a 2x2
orthonormal matrix with determinant of +1.
:rtype: bool
:seealso: :func:`~spatialmath.base.transform3d.isrot`
"""
return not check or tr.isrot2(x, check=True)
def trplot2(self, end, start=None, **kwargs):
"""
Define the transform to animate
:param end: the final pose SE(2) or SO(2) to display as a coordinate frame
:type end: ndarray(3,3) or ndarray(2,2)
:param start: the initial pose SE(2) or SO(2) to display as a coordinate frame, defaults to null
:type start: ndarray(3,3) or ndarray(2,2)
Is polymorphic with ``base.trplot`` and accepts the same parameters.
This sets up the animation but doesn't execute it.
:seealso: :func:`run`
"""
if not isinstance(end, (np.ndarray, np.generic)) and isinstance(
end, Iterable):
if len(end) == 1:
end = end[0]
elif len(end) >= 2:
self.trajectory = end
# stash the final value
if base.isrot2(end):
self.end = base.r2t(end)
else:
self.end = end
if start is None:
self.start = np.identity(3)
else:
if base.isrot2(start):
self.start = base.r2t(start)
else:
self.start = start
# draw axes at the origin
base.trplot2(self.start, axes=self, block=False, **kwargs)
def isvalid(x):
return tr.isrot2(x, check=True)
