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zhm-real
2020-07-24 13:40:44 -07:00
parent 5ce7f8391e
commit d687a48169
11 changed files with 199 additions and 16 deletions
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Sampling-based Planning/rrt_2D/plotting.py
+27 -1
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@@ -27,6 +27,11 @@ class Plotting:
self.plot_visited(nodelist, animation)
self.plot_path(path)
def animation_connect(self, V1, V2, path, name):
self.plot_grid(name)
self.plot_visited_connect(V1, V2)
self.plot_path(path)
def plot_grid(self, name):
fig, ax = plt.subplots()
@@ -76,12 +81,33 @@ class Plotting:
plt.plot([node.parent.x, node.x], [node.parent.y, node.y], "-g")
plt.gcf().canvas.mpl_connect('key_release_event',
lambda event: [exit(0) if event.key == 'escape' else None])
if count % 10 == 0: plt.pause(0.001)
if count % 10 == 0:
plt.pause(0.001)
else:
for node in nodelist:
if node.parent:
plt.plot([node.parent.x, node.x], [node.parent.y, node.y], "-g")
@staticmethod
def plot_visited_connect(V1, V2):
len1, len2 = len(V1), len(V2)
for k in range(max(len1, len2)):
if k < len1:
if V1[k].parent:
plt.plot([V1[k].x, V1[k].parent.x], [V1[k].y, V1[k].parent.y], "-g")
if k < len2:
if V2[k].parent:
plt.plot([V2[k].x, V2[k].parent.x], [V2[k].y, V2[k].parent.y], "-g")
plt.gcf().canvas.mpl_connect('key_release_event',
lambda event: [exit(0) if event.key == 'escape' else None])
if k % 2 == 0:
plt.pause(0.001)
plt.pause(0.01)
@staticmethod
def plot_path(path):
plt.plot([x[0] for x in path], [x[1] for x in path], '-r', linewidth=2)