def shapeGen(): x, y = yield (x,y) = yield vibes.drawArrow([x-1, y-1], [x+1, y+1], 0.6, 'k[k]') (x,y) = yield vibes.drawAUV(x,y,45,2, 'k[y]') (x,y) = yield vibes.drawBox(x-1,x+1,y-2,y+2, "[b]") (x,y) = yield vibes.drawBoxesUnion([[x-1,x,y-2,y], [x-0.5,x+1,y-0.5,y+2]], "[r]") (x,y) = yield vibes.drawCircle(x,y,1, "g[m]") (x,y) = yield vibes.drawEllipse(x,y,2,1,45, color="r[darkCyan]") (x,y) = yield vibes.drawLine([[x-0.5, y-1], [x+1, y+0.5]], "k") (x,y) = yield vibes.drawPie( (x-2, y-2), (1,2.5), [20,70] , "y[cyan]") (x,y) = yield vibes.drawPolygon([[x-1,y-1], [x, y+1], [ x+1, y-1]], "k[orange]") (x,y) = yield vibes.drawRing(x,y, 1,2, '[red]') # (x,y) = yield vibes.drawPie( (x, y), (1,2), [0,360] , "y[cyan]") (x,y) = yield vibes.drawVehicle( x, y, 20, 1, "[darkBlue]") (x,y) = yield vibes.drawPoint( x,y, 1, "[k]") (x,y) = yield vibes.drawText( x,y, "Text", 1)
def shapeGen():
x, y = yield
(x, y) = yield vibes.drawArrow([x - 1, y - 1], [x + 1, y + 1], 0.6, 'k[k]')
(x, y) = yield vibes.drawAUV(x, y, 45, 2, 'k[y]')
(x, y) = yield vibes.drawBox(x - 1, x + 1, y - 2, y + 2, "[b]")
(x, y) = yield vibes.drawBoxesUnion(
[[x - 1, x, y - 2, y], [x - 0.5, x + 1, y - 0.5, y + 2]], "[r]")
(x, y) = yield vibes.drawCircle(x, y, 1, "g[m]")
(x, y) = yield vibes.drawEllipse(x, y, 2, 1, 45, color="r[darkCyan]")
(x, y) = yield vibes.drawLine([[x - 0.5, y - 1], [x + 1, y + 0.5]], "k")
(x, y) = yield vibes.drawPie((x - 2, y - 2), (1, 2.5), [20, 70], "y[cyan]")
(x,
y) = yield vibes.drawPolygon([[x - 1, y - 1], [x, y + 1], [x + 1, y - 1]],
"k[orange]")
(x, y) = yield vibes.drawRing(x, y, 1, 2, '[red]')
# (x,y) = yield vibes.drawPie( (x, y), (1,2), [0,360] , "y[cyan]")
(x, y) = yield vibes.drawVehicle(x, y, 20, 1, "[darkBlue]")
(x, y) = yield vibes.drawPoint(x, y, 1, "[k]")
(x, y) = yield vibes.drawText(x, y, "Text", 1)
m[r][1] = Interval(position[i][r][2]).inflate(PositionIncertitude) #y
t = m[i][0][0]
#SIVIA test for Robots secure area whith incertitude
pdcRobots = IncertitudeRobots(m,r**2)
# SIVIA test for Trail
sizeKernelErosion = enemySpeed*(t-t_old)/(1000*echellePixel)
print(sizeKernelErosion)
imgTrail = computeTrail(imgOut, enemySpeed)
imgIntegralTrail = cv2.integral(imgTrail)
pdcTrail = ImageToBoxes(imgIntegralTrail,i0,j0,echellePixel)
vibes.clearFigure('Robotique')
boatBoxesNP = SIVIA(X0, pdcGascogne, pdcTrail, pdcRobots, epsilon)
#Draw of the robots:
for m_ in m:
vibes.drawCircle(m_[0].mid(), m_[1].mid(), 0.2, '[k]')
vibes.drawArrow([-15, -15], [-15, -10], 1, 'w[w]')
vibes.drawArrow([-15, -15], [-10, -15], 1, 'w[w]')
#Creation of the output image:
imgT=np.zeros((j_max, i_max),dtype="uint8")
imgOut=cv2.fillPoly(imgT,np.array( boatBoxesNP),(1,1,1))
t_old = t
vibes.endDrawing()
# vibes.clearGroup("Pie", figure="test")
vibes.drawPie([0,0], [1,2], [160, 220]) #, 'g[y]')
# exit()
vibes.newFigure("test2")
vibes.setFigureProperties({'x':0, 'y':0, 'width':600, 'height':600})
# vibes.axisLimits(10,20,10,20)
vibes.axisLabels("titi", "toto")
# vibes.drawBox(-1,0,-4,-6,color='[r]', figure='test2')
# vibes.selectFigure("test")
# vibes.clearFigure()
# vibes.selectFigure("test2")
# vibes.saveImage('./test.svg', "test")
# vibes.closeFigure("test2")
vibes.drawBoxDiff([11, 13, 11, 24], [12,12.5, 11, 13], 'b[r]')
vibes.drawArrow([9, 9], [9, 10], 0.3, '[r]')
vibes.drawArrow([9, 9], [10, 9], 0.3, '[r]')
vibes.drawPolygon([[1,1], [1,4], [5,2], [5, 1]])
vibes.setFigureProperties({'viewbox':'equal'})
vibes.endDrawing()
vibes.drawPie([5, 2], [1, 2], [160, 220]) #, 'g[y]')
# vibes.clearGroup("Pie", figure="test")
vibes.drawPie([0, 0], [1, 2], [160, 220]) #, 'g[y]')
# exit()
vibes.newFigure("test2")
vibes.setFigureProperties({'x': 0, 'y': 0, 'width': 600, 'height': 600})
# vibes.axisLimits(10,20,10,20)
vibes.axisLabels("titi", "toto")
# vibes.drawBox(-1,0,-4,-6,color='[r]', figure='test2')
# vibes.selectFigure("test")
# vibes.clearFigure()
# vibes.selectFigure("test2")
# vibes.saveImage('./test.svg', "test")
# vibes.closeFigure("test2")
vibes.drawBoxDiff([11, 13, 11, 24], [12, 12.5, 11, 13], 'b[r]')
vibes.drawArrow([9, 9], [9, 10], 0.3, '[r]')
vibes.drawArrow([9, 9], [10, 9], 0.3, '[r]')
vibes.drawPolygon([[1, 1], [1, 4], [5, 2], [5, 1]])
vibes.setFigureProperties({'viewbox': 'equal'})
vibes.endDrawing()
from vibes import vibes
import time
from SaveLoadData import *
if __name__ == '__main__':
A=[1,1]
B=[0,-1]
C=[-1,0]
vibes.beginDrawing()
vibes.newFigure('TestCase1')
vibes.setFigureProperties({'x': 0, 'y': 0,'width': 500, 'height': 500})
vibes.axisLimits(-25, 25, -25, 25)
t,dt,Field,inc,dif,x,y,xmp,ymp,xm,ym = loadData("rot1.pckl")
t,dt,Field,inc,dif,x2,y2,xmp,ymp,xm,ym = loadData("rot2.pckl")
time.sleep(15)
for i in range(len(t)):
vibes.drawCircle(x[i], y[i], 1, 'black[green]')
vibes.drawCircle(x2[i], y2[i], 1, 'black[red]')
vibes.drawCircle(xm, ym, 0.4, 'black[blue]')
vibes.drawArrow([20, 15], [15, 15], 1, 'black[black]')
vibes.drawArrow([20, 10], [15, 10], 1, 'black[black]')
vibes.drawArrow([20, 5], [15, 5], 1, 'black[black]')
vibes.drawArrow([20, 0], [15, 0], 1, 'black[black]')
vibes.drawArrow([20, -5], [15, -5], 1, 'black[black]')
time.sleep(0.001)
vibes.clearFigure()
vibes.endDrawing()
vibes.newFigure("test2")
vibes.setFigureProperties({'x':0, 'y':0, 'width':600, 'height':600})
# vibes.axisLimits(10,20,10,20)
vibes.axisLabels("titi", "toto")
vibes.showAxis(False)
# vibes.drawBox(-1,0,-4,-6,color='[r]', figure='test2')
# vibes.selectFigure("test")
# vibes.clearFigure()
# vibes.selectFigure("test2")
# vibes.saveImage('./test.svg', "test")
# vibes.closeFigure("test2")
vibes.drawBoxDiff([11, 13, 11, 24], [12,12.5, 11, 13], 'b[r]')
vibes.drawArrow([9, 9], [9, 10], 0.3, '[r]')
vibes.drawArrow([9, 9], [10, 9], 0.3, '[r]')
vibes.drawPolygon([[1,1], [1,4], [5,2], [5, 1]])
vibes.setFigureProperties({'viewbox':'equal'})
vibes.newFigure("raster")
vibes.drawArrow((0,0), (1,1), 0.1)
vibes.endDrawing()
