class input_viewer:
def __init__(self):
time_window_length = 100
self.plotter = Plotter(
plotting_frequency=20, # refresh plot every 20 time steps
time_window=time_window_length
) # plot last time_window seconds of data
light_theme = True
if light_theme:
self.plotter.use_light_theme()
axis_color = 'k'
min_hue = 0 #260
max_hue = 900 #500
else:
axis_color = 'w'
min_hue = 0
max_hue = 900
# set up the plot window
# define first row
ft_plots = PlotboxArgs(plots=['ft', 'ft_z'],
labels={
'left': 'thrust',
'bottom': 'Time (s)'
},
time_window=time_window_length,
plot_min_hue=min_hue,
plot_max_hue=max_hue,
axis_color=axis_color)
first_row = [ft_plots]
# define second row
tau_x_plots = PlotboxArgs(plots=['tau_x', 'tau_x_z'],
labels={
'left': 'tau_x',
'bottom': 'Time (s)'
},
time_window=time_window_length,
plot_min_hue=min_hue,
plot_max_hue=max_hue,
axis_color=axis_color)
second_row = [tau_x_plots]
# define third row
tau_y_plots = PlotboxArgs(plots=['tau_y', 'tau_y_z'],
labels={
'left': 'tau_y',
'bottom': 'Time (s)'
},
rad2deg=True,
time_window=time_window_length,
plot_min_hue=min_hue,
plot_max_hue=max_hue,
axis_color=axis_color)
third_row = [tau_y_plots]
# define fourth row
tau_z_plots = PlotboxArgs(plots=['tau_z', 'tau_z_z'],
labels={
'left': 'tau_z',
'bottom': 'Time (s)'
},
rad2deg=True,
time_window=time_window_length,
plot_min_hue=min_hue,
plot_max_hue=max_hue,
axis_color=axis_color)
fourth_row = [tau_z_plots]
plots = [first_row, second_row, third_row, fourth_row]
# Add plots to the window
self.plotter.add_plotboxes(plots)
# Define and label vectors for more convenient/natural data input
self.plotter.define_input_vector('true_state',
['ft', 'tau_x', 'tau_y', 'tau_z'])
self.plotter.define_input_vector(
'commands', ['ft_z', 'tau_x_z', 'tau_y_z', 'tau_z_z'])
# plot timer
self.time = 0.
def update(self, true_state, commanded_state, ts):
## Add the state data in vectors
# the order has to match the order in lines 72-76
true_state_list = [
true_state.item(0),
true_state.item(1),
true_state.item(2),
true_state.item(3)
]
commanded_state_list = [
commanded_state.item(0),
commanded_state.item(1),
commanded_state.item(2),
commanded_state.item(3)
]
self.plotter.add_vector_measurement('true_state', true_state_list,
self.time)
self.plotter.add_vector_measurement('commands', commanded_state_list,
self.time)
# Update and display the plot
self.plotter.update_plots()
# increment time
self.time += ts
class data_viewer:
def __init__(self):
time_window_length = 100
self.plotter = Plotter(
plotting_frequency=20, # refresh plot every 20 time steps
time_window=time_window_length
) # plot last time_window seconds of data
light_theme = True
if light_theme:
self.plotter.use_light_theme()
axis_color = 'k'
min_hue = 0 #260
max_hue = 900 #500
else:
axis_color = 'w'
min_hue = 0
max_hue = 900
# set up the plot window
# define first row
pn_plots = PlotboxArgs(plots=['pn', 'pn_c'],
labels={
'left': 'pn(m)',
'bottom': 'Time (s)'
},
time_window=time_window_length,
plot_min_hue=min_hue,
plot_max_hue=max_hue,
axis_color=axis_color)
pe_plots = PlotboxArgs(plots=['pe', 'pe_c'],
labels={
'left': 'pe(m)',
'bottom': 'Time (s)'
},
time_window=time_window_length,
plot_min_hue=min_hue,
plot_max_hue=max_hue,
axis_color=axis_color)
pd_plots = PlotboxArgs(plots=['pd', 'pd_c'],
labels={
'left': 'pd(m)',
'bottom': 'Time (s)'
},
time_window=time_window_length,
plot_min_hue=min_hue,
plot_max_hue=max_hue,
axis_color=axis_color)
first_row = [pn_plots, pe_plots, pd_plots]
# define second row
u_plots = PlotboxArgs(plots=['u', 'u_c'],
labels={
'left': 'u(m/s)',
'bottom': 'Time (s)'
},
time_window=time_window_length,
plot_min_hue=min_hue,
plot_max_hue=max_hue,
axis_color=axis_color)
v_plots = PlotboxArgs(plots=['v', 'v_c'],
labels={
'left': 'v(m/s)',
'bottom': 'Time (s)'
},
time_window=time_window_length,
plot_min_hue=min_hue,
plot_max_hue=max_hue,
axis_color=axis_color)
w_plots = PlotboxArgs(plots=['w', 'w_c'],
labels={
'left': 'w(m/s)',
'bottom': 'Time (s)'
},
time_window=time_window_length,
plot_min_hue=min_hue,
plot_max_hue=max_hue,
axis_color=axis_color)
second_row = [u_plots, v_plots, w_plots]
# define third row
phi_plots = PlotboxArgs(plots=['phi', 'phi_c'],
labels={
'left': 'phi(deg)',
'bottom': 'Time (s)'
},
rad2deg=True,
time_window=time_window_length,
plot_min_hue=min_hue,
plot_max_hue=max_hue,
axis_color=axis_color)
theta_plots = PlotboxArgs(plots=['theta', 'theta_c'],
labels={
'left': 'theta(deg)',
'bottom': 'Time (s)'
},
rad2deg=True,
time_window=time_window_length,
plot_min_hue=min_hue,
plot_max_hue=max_hue,
axis_color=axis_color)
psi_plots = PlotboxArgs(plots=['psi', 'psi_c'],
labels={
'left': 'psi(deg)',
'bottom': 'Time (s)'
},
rad2deg=True,
time_window=time_window_length,
plot_min_hue=min_hue,
plot_max_hue=max_hue,
axis_color=axis_color)
third_row = [phi_plots, theta_plots, psi_plots]
# define fourth row
p_plots = PlotboxArgs(plots=['p', 'p_c'],
labels={
'left': 'p(deg/s)',
'bottom': 'Time (s)'
},
rad2deg=True,
time_window=time_window_length,
plot_min_hue=min_hue,
plot_max_hue=max_hue,
axis_color=axis_color)
q_plots = PlotboxArgs(plots=['q', 'q_c'],
labels={
'left': 'q(deg/s)',
'bottom': 'Time (s)'
},
rad2deg=True,
time_window=time_window_length,
plot_min_hue=min_hue,
plot_max_hue=max_hue,
axis_color=axis_color)
r_plots = PlotboxArgs(plots=['r', 'r_c'],
labels={
'left': 'r(deg)',
'bottom': 'Time (s)'
},
rad2deg=True,
time_window=time_window_length,
plot_min_hue=min_hue,
plot_max_hue=max_hue,
axis_color=axis_color)
fourth_row = [p_plots, q_plots, r_plots]
plots = [first_row, second_row, third_row, fourth_row]
# Add plots to the window
self.plotter.add_plotboxes(plots)
# Define and label vectors for more convenient/natural data input
self.plotter.define_input_vector('true_state', [
'pn', 'pe', 'pd', 'u', 'v', 'w', 'phi', 'theta', 'psi', 'p', 'q',
'r'
])
self.plotter.define_input_vector('estimated_state', [
'pn_e', 'pe_e', 'pd_e', 'u_e', 'v_e', 'w_e', 'phi_e', 'theta_e',
'psi_e', 'p_e', 'q_e', 'r_e'
])
self.plotter.define_input_vector('commands', [
'pn_c', 'pe_c', 'pd_c', 'u_c', 'v_c', 'w_c', 'phi_c', 'theta_c',
'psi_c', 'p_c', 'q_c', 'r_c'
])
# plot timer
self.time = 0.
def update(self, true_state, estimated_state, commanded_state, ts):
commands = [
commanded_state.pn, # pn_c
commanded_state.pe, # pe_c
commanded_state.pd, # pd_c
commanded_state.u, # u_c
commanded_state.v, # v_c
commanded_state.w, # w_c
commanded_state.phi, # phi_c
commanded_state.theta, # theta_c
commanded_state.psi, # psi_c
commanded_state.p, # p_c
commanded_state.q, # q_c
commanded_state.r
] # r_c
## Add the state data in vectors
# the order has to match the order in lines 72-76
true_state_list = [
true_state.pn, true_state.pe, true_state.pd, true_state.u,
true_state.v, true_state.w, true_state.phi, true_state.theta,
true_state.psi, true_state.p, true_state.q, true_state.r
]
estimated_state_list = [
estimated_state.pn, estimated_state.pe, estimated_state.pd,
estimated_state.u, estimated_state.v, estimated_state.w,
estimated_state.phi, estimated_state.theta, estimated_state.psi,
estimated_state.p, estimated_state.q, estimated_state.r
]
self.plotter.add_vector_measurement('true_state', true_state_list,
self.time)
self.plotter.add_vector_measurement('estimated_state',
estimated_state_list, self.time)
self.plotter.add_vector_measurement('commands', commands, self.time)
# Update and display the plot
self.plotter.update_plots()
# increment time
self.time += ts
from IPython.core.debugger import set_trace
import numpy as np
from state_plotter.Plotter import Plotter
from state_plotter.plotter_args import *
plotter = Plotter(plotting_frequency=1)
''' Demonstrates:
- Light theme
- Sigma bounds
- Scatter plots
- Hidden plots
'''
# Use light theme for white background (better for papers/presentations)
plotter.use_light_theme()
### Define plot names
## Simple string definitions
x = PlotboxArgs(title='X with sigma bounds',
plots=[
PlotArgs(name='True X', states='x_t'),
PlotArgs(name='Estimated X',
states='x_e',
sigma_bounds=[1, 2])
])
y = PlotboxArgs(title='Y data',
plots=[
PlotArgs(name='Y position', states='y_t'),
PlotArgs(name='Estimated Y', states='y_e')
