def redrawFunnelsButton(self, change=True):
if self.funnels_toggle:
variance_x = 1.5 + abs(self.XVelocity_drawing*0.1)
variance_y = 1.5 + abs(self.YVelocity_drawing*0.1)
variance_z = 1.5 + abs(self.ZVelocity_drawing*0.1)
#self.ActionSet.computeAllPositions(self.XVelocity_drawing,self.YVelocity_drawing,self.ZVelocity_drawing)
#find almost equally spaced indexes
indices_to_draw = np.zeros(10)
indices_to_draw[0] = 0
next_time = 0 + self.ActionSet.t_f/10.0
number = 0
for index, value in enumerate(self.ActionSet.overall_t_vector):
if value > next_time:
indices_to_draw[number] = index
number = number + 1
next_time = next_time + self.ActionSet.t_f/10.0
for index, value in enumerate(indices_to_draw):
time = self.ActionSet.overall_t_vector[value]
x_center = self.ActionSet.pos_trajectories[self.funnel_number,0,value]
y_center = self.ActionSet.pos_trajectories[self.funnel_number,1,value]
z_center = self.ActionSet.pos_trajectories[self.funnel_number,2,value]
World.buildEllipse(index, [x_center,y_center,z_center], variance_x*time, variance_y*time, variance_z*time, alpha=0.3)
def onDrawFunnelsButton(self, change=True):
if change == True:
self.funnel_number_x = self.funnel_number_x + 1
if self.funnel_number_x == 5:
self.funnel_number_x = 0
self.funnel_number_y = self.funnel_number_y + 1
if self.funnel_number_y == 5:
self.funnel_number_y = 0
print "I pressed the draw funnels button"
variance_x = 1.5 + abs(self.XVelocity_drawing*0.1)
variance_y = 1.5 + abs(self.YVelocity_drawing*0.1)
variance_z = 0.2
self.ActionSet.computeAllPositions(self.XVelocity_drawing,self.YVelocity_drawing)
print np.shape(self.ActionSet.p_x_trajectories), "is my shape"
for i in xrange(np.size(self.ActionSet.p_x_trajectories,1)):
print i
x_center = self.ActionSet.p_x_trajectories[self.funnel_number_x,i]
y_center = self.ActionSet.p_y_trajectories[self.funnel_number_y,i]
print x_center, y_center
World.buildEllipse(i, [x_center,y_center,0], variance_x*i/10.0*0.5, variance_y*i/10.0*0.5, variance_z, alpha=0.3)
def onDrawFunnelsButton(self):
self.funnels_toggle = not self.funnels_toggle
if self.funnels_toggle:
self.onDrawActionSetButton()
if not self.funnels_toggle:
for i in xrange(0,10):
x_center = self.ActionSet.pos_trajectories[self.funnel_number,0,i]
y_center = self.ActionSet.pos_trajectories[self.funnel_number,1,i]
z_center = self.ActionSet.pos_trajectories[self.funnel_number,2,i]
World.buildEllipse(i, [x_center,y_center,z_center], 0.0, 0.0, 0.0, alpha=0.3)
def drawChosenFunnel(self):
velocity_initial_x = self.stateOverTime[self.currentIdx,2]
velocity_initial_y = self.stateOverTime[self.currentIdx,3]
variance_x = 2.5 + abs(velocity_initial_x*0.1)
variance_y = 2.5 + abs(velocity_initial_y*0.1)
variance_z = 1.5
x_index = self.actionIndicesOverTime[self.currentIdx,0]
y_index = self.actionIndicesOverTime[self.currentIdx,1]
for i in xrange(0,10):
time = 0.5/10.0*i
x_center = self.ActionSet.p_x_trajectories[x_index, i]
y_center = self.ActionSet.p_y_trajectories[y_index, i]
z_center = 0.0
World.buildEllipse(i, [x_center,y_center,z_center], variance_x*time, variance_y*time, variance_z*time, alpha=0.3)
