<div role="contentinfo">

<p>&#169; Copyright 2020, Jesse Haviland and Peter Corke.

</span></p>

</div>

<div class="viewcode-block" id="PyPlot"><a class="viewcode-back" href="../../../../arm_backend_pyplot.html#roboticstoolbox.backends.PyPlot.PyPlot">[docs]</a><span class="k">class</span> <span class="nc">PyPlot</span><span class="p">(</span><span class="n">Connector</span><span class="p">):</span>

<span class="sd"> Graphical backend using matplotlib</span>

<span class="sd"> matplotlib is a common and highly portable graphics library for Python,</span>

<span class="k">return</span> <span class="n">s</span>

<div class="viewcode-block" id="PyPlot.launch"><a class="viewcode-back" href="../../../../arm_backend_pyplot.html#roboticstoolbox.backends.PyPlot.PyPlot.launch">[docs]</a> <span class="k">def</span> <span class="nf">launch</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">name</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="n">fig</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="n">limits</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>

<span class="sd"> Launch a graphical interface</span>

<span class="sd"> ```env = launch()``` creates a blank 3D matplotlib figure and returns</span>

<span class="c1"># TODO still need to finish this, and get Jupyter animation working</span>

<div class="viewcode-block" id="PyPlot.step"><a class="viewcode-back" href="../../../../arm_backend_pyplot.html#roboticstoolbox.backends.PyPlot.PyPlot.step">[docs]</a> <span class="k">def</span> <span class="nf">step</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">dt</span><span class="o">=</span><span class="mf">0.05</span><span class="p">):</span>

<span class="sd"> Update the graphical scene</span>

<span class="sd"> :param dt: time step in seconds, defaults to 50 (0.05 s)</span>

<span class="n">plt</span><span class="o">.</span><span class="n">pause</span><span class="p">(</span><span class="n">dt</span><span class="p">)</span></div>

<div class="viewcode-block" id="PyPlot.reset"><a class="viewcode-back" href="../../../../arm_backend_pyplot.html#roboticstoolbox.backends.PyPlot.PyPlot.reset">[docs]</a> <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>

<span class="sd"> Reset the graphical scene</span>

<span class="sd"> ``env.reset()`` triggers a reset of the 3D scene in the matplotlib</span>

<span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span></div>

<div class="viewcode-block" id="PyPlot.restart"><a class="viewcode-back" href="../../../../arm_backend_pyplot.html#roboticstoolbox.backends.PyPlot.PyPlot.restart">[docs]</a> <span class="k">def</span> <span class="nf">restart</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>

<span class="sd"> Restart the graphics display</span>

<span class="sd"> ``env.restart()`` triggers a restart of the matplotlib view referenced</span>

<span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">restart</span><span class="p">()</span></div>

<div class="viewcode-block" id="PyPlot.close"><a class="viewcode-back" href="../../../../arm_backend_pyplot.html#roboticstoolbox.backends.PyPlot.PyPlot.close">[docs]</a> <span class="k">def</span> <span class="nf">close</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>

<span class="sd"> ``env.close()`` gracefully closes the matplotlib window</span>

<span class="sd"> referenced by ``env``.</span>

<span class="sd"> &quot;&quot;&quot;</span>

<span class="n">name</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>

<span class="n">options</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span>

<span class="p">):</span>

<span class="sd"> Add a robot to the graphical scene</span>

<span class="sd"> :param ob: The object to add to the plot (robot or ellipse)</span>

<span class="k">return</span> <span class="nb">id</span></div>

<div class="viewcode-block" id="PyPlot.remove"><a class="viewcode-back" href="../../../../arm_backend_pyplot.html#roboticstoolbox.backends.PyPlot.PyPlot.remove">[docs]</a> <span class="k">def</span> <span class="nf">remove</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="nb">id</span><span class="p">):</span>

<span class="sd"> Remove a robot or shape from the graphical scene</span>

<span class="sd"> :param id: The id of the robot to remove. Can be either the DHLink or</span>

<span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">remove</span><span class="p">()</span></div>

<div class="viewcode-block" id="PyPlot.hold"><a class="viewcode-back" href="../../../../arm_backend_pyplot.html#roboticstoolbox.backends.PyPlot.PyPlot.hold">[docs]</a> <span class="k">def</span> <span class="nf">hold</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="c1"># pragma: no cover</span>

<span class="sd"> hold() keeps the plot open i.e. stops the plot from closing once</span>

<span class="sd"> the main script has finished.</span>

<span class="c1"># pass</span>

<span class="k">def</span> <span class="nf">_set_axes_equal</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>

<span class="sd"> Make axes of 3D plot have equal scale so that spheres appear as</span>

<span class="sd"> spheres, cubes as cubes, etc.. This is one possible solution to</span>

<span class="sd"> Matplotlib&#39;s ax.set_aspect(&#39;equal&#39;) and ax.axis(&#39;equal&#39;) not</span>

<span class="k">def</span> <span class="nf">_isnotebook</span><span class="p">():</span>

<span class="sd"> Determine if code is being run from a Jupyter notebook</span>

<span class="sd"> ``_isnotebook`` is True if running Jupyter notebook, else False</span>

<div role="contentinfo">

<p>&#169; Copyright 2020, Jesse Haviland and Peter Corke.

</span></p>

</div>

<span class="k">return</span> <span class="n">s</span>

<div class="viewcode-block" id="PyPlot2.launch"><a class="viewcode-back" href="../../../../arm_backend_pyplot.html#roboticstoolbox.backends.PyPlot.PyPlot2.launch">[docs]</a> <span class="k">def</span> <span class="nf">launch</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">name</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="n">limits</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>

<span class="sd"> env = launch() launchs a blank 2D matplotlib figure</span>

<span class="sd"> &quot;&quot;&quot;</span>

<span class="c1"># signal.setitimer(signal.ITIMER_REAL, 0.1, 0.1)</span>

<div class="viewcode-block" id="PyPlot2.step"><a class="viewcode-back" href="../../../../arm_backend_pyplot.html#roboticstoolbox.backends.PyPlot.PyPlot2.step">[docs]</a> <span class="k">def</span> <span class="nf">step</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">dt</span><span class="o">=</span><span class="mf">0.05</span><span class="p">):</span>

<span class="sd"> state = step(args) triggers the external program to make a time step</span>

<span class="sd"> of defined time updating the state of the environment as defined by</span>

<span class="sd"> the robot&#39;s actions.</span>

<span class="bp">self</span><span class="o">.</span><span class="n">_update_robots</span><span class="p">()</span></div>

<div class="viewcode-block" id="PyPlot2.reset"><a class="viewcode-back" href="../../../../arm_backend_pyplot.html#roboticstoolbox.backends.PyPlot.PyPlot2.reset">[docs]</a> <span class="k">def</span> <span class="nf">reset</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>

<span class="sd"> state = reset() triggers the external program to reset to the</span>

<span class="sd"> original state defined by launch</span>

<span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span></div>

<div class="viewcode-block" id="PyPlot2.restart"><a class="viewcode-back" href="../../../../arm_backend_pyplot.html#roboticstoolbox.backends.PyPlot.PyPlot2.restart">[docs]</a> <span class="k">def</span> <span class="nf">restart</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>

<span class="sd"> state = restart() triggers the external program to close and relaunch</span>

<span class="sd"> to thestate defined by launch</span>

<span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">restart</span><span class="p">()</span></div>

<div class="viewcode-block" id="PyPlot2.close"><a class="viewcode-back" href="../../../../arm_backend_pyplot.html#roboticstoolbox.backends.PyPlot.PyPlot2.close">[docs]</a> <span class="k">def</span> <span class="nf">close</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>

<span class="sd"> close() closes the plot</span>

<span class="sd"> &quot;&quot;&quot;</span>

<span class="c1">#</span>

<div class="viewcode-block" id="PyPlot2.add"><a class="viewcode-back" href="../../../../arm_backend_pyplot.html#roboticstoolbox.backends.PyPlot.PyPlot2.add">[docs]</a> <span class="k">def</span> <span class="nf">add</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">ob</span><span class="p">,</span> <span class="n">readonly</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="n">display</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span> <span class="n">eeframe</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span> <span class="n">name</span><span class="o">=</span><span class="kc">False</span><span class="p">,</span> <span class="o">**</span><span class="n">kwargs</span><span class="p">):</span>

<span class="sd"> id = add(robot) adds the robot to the external environment. robot must</span>

<span class="sd"> be of an appropriate class. This adds a robot object to a list of</span>

<span class="sd"> robots which will act upon the step() method being called.</span>

<span class="bp">self</span><span class="o">.</span><span class="n">ellipses</span><span class="p">[</span><span class="nb">len</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">ellipses</span><span class="p">)</span> <span class="o">-</span> <span class="mi">1</span><span class="p">]</span><span class="o">.</span><span class="n">draw2</span><span class="p">()</span></div>

<div class="viewcode-block" id="PyPlot2.remove"><a class="viewcode-back" href="../../../../arm_backend_pyplot.html#roboticstoolbox.backends.PyPlot.PyPlot2.remove">[docs]</a> <span class="k">def</span> <span class="nf">remove</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>

<span class="sd"> id = remove(robot) removes the robot to the external environment.</span>

<span class="sd"> &quot;&quot;&quot;</span>

<span class="nb">super</span><span class="p">()</span><span class="o">.</span><span class="n">remove</span><span class="p">()</span> <span class="c1"># ???</span></div>

<div class="viewcode-block" id="PyPlot2.hold"><a class="viewcode-back" href="../../../../arm_backend_pyplot.html#roboticstoolbox.backends.PyPlot.PyPlot2.hold">[docs]</a> <span class="k">def</span> <span class="nf">hold</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span> <span class="c1"># pragma: no cover</span>

<span class="sd"> hold() keeps the plot open i.e. stops the plot from closing once</span>

<span class="sd"> the main script has finished.</span>

<span class="c1"># plt.pause(0.001)</span>

<span class="k">def</span> <span class="nf">_add_teach_panel</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">robot</span><span class="p">,</span> <span class="n">q</span><span class="p">):</span>

<span class="sd"> Add a teach panel</span>

<span class="sd"> :param robot: Robot being taught</span>

<span class="k">def</span> <span class="nf">_isnotebook</span><span class="p">():</span>

<span class="sd"> Determine if code is being run from a Jupyter notebook</span>

<span class="sd"> ``_isnotebook`` is True if running Jupyter notebook, else False</span>

<div role="contentinfo">

<p>&#169; Copyright 2020, Jesse Haviland and Peter Corke.

</span></p>

</div>