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update plotting

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This commit is contained in:
yue qi
2020-11-12 00:43:50 -08:00
parent 1257bbcf50
commit b5ef129457
2 changed files with 5 additions and 8 deletions
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Sampling_based_Planning/rrt_3D/FMT_star3D.py
+3 -2
View File
@@ -129,7 +129,7 @@ class FMT_star:
return
ind += 1
print(str(ind) + ' node expanded')
# self.visualization(ind, E)
self.visualization(ind, E)
# update current node
Vopenlist = list(self.Vopen)
z = Vopenlist[np.argmin([self.c[y] for y in self.Vopen])]
@@ -160,7 +160,8 @@ class FMT_star:
# ax.view_init(elev=0.+ 0.03*initparams.ind/(2*np.pi), azim=90 + 0.03*initparams.ind/(2*np.pi))
# ax.view_init(elev=0., azim=90.)
ax.view_init(elev=90., azim=0.)
ax.view_init(elev=65., azim=60.)
ax.dist = 15
# ax.view_init(elev=-8., azim=180)
ax.clear()
# drawing objects
Sampling_based_Planning/rrt_3D/plot_util3D.py
+2 -6
View File
@@ -40,9 +40,7 @@ def draw_block_list(ax, blocks, color=None, alpha=0.15):
if type(ax) is Poly3DCollection:
ax.set_verts(vl[fl])
else:
pc = Poly3DCollection(vl[fl], alpha=alpha, linewidths=1, edgecolors='k')
pc.set_facecolor(color)
h = ax.add_collection3d(pc)
h = ax.add_collection3d(Poly3DCollection(vl[fl], facecolors='black', alpha=alpha, linewidths=1, edgecolors='k'))
return h
@@ -68,9 +66,7 @@ def draw_obb(ax, OBB, color=None, alpha=0.15):
if type(ax) is Poly3DCollection:
ax.set_verts(vl[fl])
else:
pc = Poly3DCollection(vl[fl], alpha=alpha, linewidths=1, edgecolors='k')
pc.set_facecolor(color)
h = ax.add_collection3d(pc)
h = ax.add_collection3d(Poly3DCollection(vl[fl], facecolors='black', alpha=alpha, linewidths=1, edgecolors='k'))
return h