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tranimate with sequences of SE3 #8

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tranimate with sequences of SE3 #8

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ca5bb36
make trplot supports list of T
mfkenson Feb 14, 2021
a0b8c2d
make trplot supports list of T - SE3 only
mfkenson Feb 14, 2021
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18 changes: 16 additions & 2 deletions spatialmath/base/animate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
import matplotlib.pyplot as plt
from matplotlib import animation
from spatialmath import base
from collections.abc import Iterable


class Animate:
Expand Down Expand Up @@ -57,6 +58,7 @@ def __init__(self, axes=None, dims=None, projection='ortho', labels=('X', 'Y', '
Will setup to plot into an existing or a new Axes3D instance.

"""
self.trajectory = None
self.displaylist = []

if axes is None:
Expand Down Expand Up @@ -104,6 +106,12 @@ def trplot(self, end, start=None, **kwargs):
: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.isrot(end):
self.end = base.r2t(end)
Expand All @@ -129,7 +137,7 @@ def run(self, movie=None, axes=None, repeat=False, interval=50, nframes=100, pau
:type axes: Axes3D reference
:param repeat: animate in endless loop [default False]
:type repeat: bool
:param nframes: number of steps in the animation [defaault 100]
:param nframes: number of steps in the animation [default 100]
:type nframes: int
:param interval: number of milliseconds between frames [default 50]
:type interval: int
Expand All @@ -147,7 +155,11 @@ def run(self, movie=None, axes=None, repeat=False, interval=50, nframes=100, pau
"""

def update(frame, a):
T = base.trinterp(start=self.start, end=self.end, s=frame / nframes)
# if contains trajectory:
if self.trajectory is not None:
T = self.trajectory[frame]
else:
T = base.trinterp(start=self.start, end=self.end, s=frame / nframes)
a._draw(T)
if frame == nframes - 1:
a.done = True
Expand All @@ -158,6 +170,8 @@ def update(frame, a):
repeat = False

self.done = False
if self.trajectory is not None:
nframes = len(self.trajectory)
ani = animation.FuncAnimation(fig=plt.gcf(), func=update, frames=range(0, nframes), fargs=(self,), blit=False, interval=interval, repeat=repeat)
if movie is None:
while repeat or not self.done:
Expand Down