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using widgets backend, work locally
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‎notebooks/chap2.ipynb

Lines changed: 26 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -22,8 +22,9 @@
2222
"try:\n",
2323
" import google.colab\n",
2424
" print('Running on CoLab')\n",
25+
" !pip install spatialmath-python\n",
26+
" !pip install ipympl\n",
2527
" COLAB = True\n",
26-
" !pip install roboticstoolbox-python>=1.0.2\n",
2728
" SWIFT = False\n",
2829
"except ModuleNotFoundError:\n",
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" COLAB = False\n",
@@ -32,16 +33,10 @@
3233
"InteractiveShell.ast_node_interactivity = \"last_expr_or_assign\"\n",
3334
"from IPython.display import HTML\n",
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"\n",
35-
"# add RTB examples folder to the path\n",
36-
"import sys\n",
37-
"import os.path\n",
38-
"import roboticstoolbox as rtb\n",
39-
"sys.path.append(os.path.join(rtb.__path__[0], 'examples'))\n",
40-
"\n",
4136
"# standard imports\n",
42-
"%matplotlib inline\n",
4337
"import numpy as np\n",
4438
"from scipy import linalg\n",
39+
"%matplotlib widget\n",
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"import matplotlib.pyplot as plt\n",
4641
"import math\n",
4742
"from math import pi\n",
@@ -50,7 +45,18 @@
5045
" 'float': lambda x: f\"{0:8.4g}\" if abs(x) < 1e-10 else f\"{x:8.4g}\"})\n",
5146
"np.random.seed(0)\n",
5247
"from spatialmath import *\n",
53-
"from spatialmath.base import *\n"
48+
"from spatialmath.base import *"
49+
]
50+
},
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{
52+
"attachments": {},
53+
"cell_type": "markdown",
54+
"id": "b1de4c86",
55+
"metadata": {},
56+
"source": [
57+
"There are some minor code changes compared to the book. These are to support \n",
58+
"the Matplotlib widget (ipympl) backend. This allows 3D plots to be rotated\n",
59+
"so the changes are worthwhile."
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]
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},
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{
@@ -102,6 +108,7 @@
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"metadata": {},
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"outputs": [],
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"source": [
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"plotvol2(new=True) # for matplotlib/widget\n",
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"trplot2(R);"
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]
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},
@@ -298,7 +305,7 @@
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"metadata": {},
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"outputs": [],
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"source": [
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"plotvol2([0, 5]); # new plot with both axes from 0 to 5\n",
308+
"plotvol2([0, 5], new=True); # new plot with both axes from 0 to 5\n",
302309
"trplot2(TA, frame=\"A\", color=\"b\");\n",
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"T0 = transl2(0, 0);\n",
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"trplot2(T0, frame=\"0\", color=\"k\"); # reference frame\n",
@@ -359,7 +366,7 @@
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"metadata": {},
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"outputs": [],
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"source": [
362-
"plotvol2([-5, 4, -1, 5]);\n",
369+
"plotvol2([-5, 4, -1, 5], new=True); # for matplotlib/widget\n",
363370
"T0 = transl2(0, 0);\n",
364371
"trplot2(T0, frame=\"0\", color=\"k\");\n",
365372
"TX = transl2(2, 3);\n",
@@ -590,6 +597,7 @@
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"metadata": {},
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"outputs": [],
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"source": [
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"plotvol3(new=True) # for matplotlib/widget\n",
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"trplot(R);"
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]
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},
@@ -601,6 +609,7 @@
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"outputs": [],
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"source": [
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"# tranimate(R)\n",
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"plotvol3(new=True)\n",
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"HTML(tranimate(R, movie=True))"
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]
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},
@@ -661,6 +670,7 @@
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"metadata": {},
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"outputs": [],
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"source": [
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"plotvol3(new=True) # for matplotlib/widget\n",
664674
"trplot(Ryx);"
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]
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},
@@ -1165,6 +1175,7 @@
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"metadata": {},
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"outputs": [],
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"source": [
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"plotvol3(new=True) # for matplotlib/widget\n",
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"q.plot();"
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]
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},
@@ -1201,6 +1212,7 @@
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"metadata": {},
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"outputs": [],
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"source": [
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"plotvol3(new=True) # for matplotlib/widget\n",
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"trplot(T);"
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]
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},
@@ -1621,7 +1633,7 @@
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"metadata": {},
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"outputs": [],
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"source": [
1624-
"plotvol3([-5, 5]) # setup volume in which to display the line\n",
1636+
"plotvol3([-5, 5], new=True) # setup volume in which to display the line\n",
16251637
"line.plot(\"k:\", linewidth=2);"
16261638
]
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},
@@ -1851,6 +1863,7 @@
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"metadata": {},
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"outputs": [],
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"source": [
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"plotvol2(new=True) # for matplotlib/widget\n",
18541867
"TA.plot(frame=\"A\", color=\"b\");"
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]
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},
@@ -1919,7 +1932,7 @@
19191932
"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
1922-
"version": "3.11.0"
1935+
"version": "3.10.9"
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},
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"vscode": {
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"interpreter": {

‎notebooks/chap3.ipynb

Lines changed: 36 additions & 70 deletions
Original file line numberDiff line numberDiff line change
@@ -23,20 +23,25 @@
2323
" import google.colab\n",
2424
" print('Running on CoLab')\n",
2525
" COLAB = True\n",
26-
" !pip install roboticstoolbox-python>=1.0.2\n",
26+
" !pip install spatialmath-python\n",
27+
" !pip install ipympl\n",
28+
" !pip install --no-deps roboticstoolbox-python>=1.0.2\n",
2729
" !pip install --no-deps rvc3python\n",
30+
"\n",
2831
"except ModuleNotFoundError:\n",
2932
" COLAB = False\n",
3033
"\n",
3134
"from IPython.core.interactiveshell import InteractiveShell\n",
3235
"InteractiveShell.ast_node_interactivity = \"last_expr_or_assign\"\n",
36+
"\n",
3337
"from IPython.display import HTML\n",
38+
"import urllib.request\n",
3439
"\n",
3540
"# add RTB examples folder to the path\n",
3641
"import sys, os.path\n",
3742
"import roboticstoolbox as rtb\n",
3843
"import RVC3\n",
39-
"sys.path.append(os.path.join(rtb.__path__[0], 'examples'))\n",
44+
"# sys.path.append(os.path.join(rtb.__path__[0], 'examples'))\n",
4045
"sys.path.append(os.path.join(RVC3.__path__[0], 'examples'))\n",
4146
"\n",
4247
"# standard imports\n",
@@ -50,7 +55,20 @@
5055
"np.random.seed(0)\n",
5156
"from spatialmath import *\n",
5257
"from spatialmath.base import *\n",
53-
"from roboticstoolbox import quintic, trapezoidal, mtraj, mstraj, xplot, ctraj"
58+
"from roboticstoolbox import quintic, trapezoidal, mtraj, mstraj, xplot, ctraj\n",
59+
"%matplotlib widget\n",
60+
"import matplotlib.pyplot as plt\n"
61+
]
62+
},
63+
{
64+
"attachments": {},
65+
"cell_type": "markdown",
66+
"id": "faa9a9d4",
67+
"metadata": {},
68+
"source": [
69+
"There are some minor code changes compared to the book. These are to support \n",
70+
"the Matplotlib widget (ipympl) backend. This allows 3D plots to be rotated\n",
71+
"so the changes are worthwhile."
5472
]
5573
},
5674
{
@@ -257,9 +275,9 @@
257275
" orientation *= UnitQuaternion.EulerVec(w * dt)\n",
258276
" yield orientation.R\n",
259277
"\n",
260-
"plt.close(\"all\")\n",
261-
"# tranimate(update(), dims=[-1.5,1.5,-1.5,1.5,-1.5,1.5]);\n",
262-
"HTML(tranimate(update(), dims=[-1.5,1.5,-1.5,1.5,-1.5,1.5], movie=True));"
278+
"# tranimate(update(), dim=1.5);\n",
279+
"plotvol3(new=True)\n",
280+
"HTML(tranimate(update(), dim=1.5, movie=True))"
263281
]
264282
},
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{
@@ -558,7 +576,8 @@
558576
"outputs": [],
559577
"source": [
560578
"# qtraj.animate()\n",
561-
"HTML(qtraj.animate(movie=True));"
579+
"plotvol3(new=True) # for matplotlib/widget\n",
580+
"HTML(qtraj.animate(movie=True))"
562581
]
563582
},
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{
@@ -578,8 +597,9 @@
578597
"source": [
579598
"q0 = UnitQuaternion.Rz(-2); q1 = UnitQuaternion.Rz(2);\n",
580599
"q = q0.interp(q1, 50);\n",
581-
"# q.animate()\n",
582-
"HTML(q.animate(movie=True))"
600+
"# q.animate(dim=1.])\n",
601+
"plotvol3(new=True) # for matplotlib/widget\n",
602+
"HTML(q.animate(movie=True, dim=1.5))"
583603
]
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},
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{
@@ -591,7 +611,8 @@
591611
"source": [
592612
"q = q0.interp(q1, 50, shortest=True);\n",
593613
"# q.animate()\n",
594-
"HTML(q.animate(movie=True))"
614+
"plotvol3(new=True) # for matplotlib/widget\n",
615+
"HTML(q.animate(movie=True, dim=1.5))"
595616
]
596617
},
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{
@@ -651,7 +672,8 @@
651672
"outputs": [],
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"source": [
653674
"# Ts.animate()\n",
654-
"HTML(Ts.animate(movie=True))"
675+
"plotvol3(new=True) # for matplotlib/widget\n",
676+
"HTML(Ts.animate(movie=True, dim=1.5))"
655677
]
656678
},
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{
@@ -732,14 +754,6 @@
732754
"## 3.4.1 Gyroscopes\n"
733755
]
734756
},
735-
{
736-
"cell_type": "markdown",
737-
"id": "8f4c845b",
738-
"metadata": {},
739-
"source": [
740-
"### 3.4.1.1 How Gyroscopes Work\n"
741-
]
742-
},
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{
744758
"cell_type": "markdown",
745759
"id": "c8b681b9",
@@ -790,7 +804,7 @@
790804
"outputs": [],
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"source": [
792806
"# orientation.animate(time=true.t)\n",
793-
"HTML(orientation.animate(time=true.t, movie=True))"
807+
"HTML(orientation.animate(time=true.t, movie=True, dim=1.5))"
794808
]
795809
},
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{
@@ -803,54 +817,6 @@
803817
"xplot(true.t, orientation.rpy(), labels=\"roll pitch yaw\");"
804818
]
805819
},
806-
{
807-
"cell_type": "markdown",
808-
"id": "7b7a9cb6",
809-
"metadata": {},
810-
"source": [
811-
"## 3.4.2 Accelerometers\n"
812-
]
813-
},
814-
{
815-
"cell_type": "markdown",
816-
"id": "5ecd0f01",
817-
"metadata": {},
818-
"source": [
819-
"### 3.4.2.1 How Accelerometers Work\n"
820-
]
821-
},
822-
{
823-
"cell_type": "markdown",
824-
"id": "e853b684",
825-
"metadata": {},
826-
"source": [
827-
"### 3.4.2.2 Estimating Pose and Body Acceleration\n"
828-
]
829-
},
830-
{
831-
"cell_type": "markdown",
832-
"id": "01e778eb",
833-
"metadata": {},
834-
"source": [
835-
"## 3.4.3 Magnetometers\n"
836-
]
837-
},
838-
{
839-
"cell_type": "markdown",
840-
"id": "b2a83e52",
841-
"metadata": {},
842-
"source": [
843-
"### 3.4.3.1 How Magnetometers Work\n"
844-
]
845-
},
846-
{
847-
"cell_type": "markdown",
848-
"id": "10cafe42",
849-
"metadata": {},
850-
"source": [
851-
"### 3.4.3.2 Estimating Heading\n"
852-
]
853-
},
854820
{
855821
"cell_type": "markdown",
856822
"id": "f358dff8",
@@ -943,7 +909,7 @@
943909
"name": "python",
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"nbconvert_exporter": "python",
945911
"pygments_lexer": "ipython3",
946-
"version": "3.11.0"
912+
"version": "3.10.9"
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},
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"vscode": {
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"interpreter": {
@@ -953,4 +919,4 @@
953919
},
954920
"nbformat": 4,
955921
"nbformat_minor": 5
956-
}
922+
}

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