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plot.py
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plot.py
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# Mostramos el movimientos de los robots
import numpy as np
from collections import deque
import matplotlib.pyplot as plt
import matplotlib.patches as patches
import matplotlib.cm as cmx
# import matplotlib.colors as colors
import matplotlib.animation as animation
import matplotlib as mpl
from descartes import PolygonPatch
def visualize_dynamic(robots, user, obstacles, animated_time=120): # Falta Texto
history_len = int(len(robots[0].path_) / 5)
colors = cmx.rainbow(np.linspace(0, 1, len(robots)))
side = 0.4
frames = len(user.path_)
if len(robots[0].path_) < frames:
frames = len(robots[0].path_)
fig1, ax1 = plt.subplots()
ax1.set_title('Animation of the simulation')
ax1.set_xlim(-robots[0].roomLimits_[0][1]*0.7, robots[0].roomLimits_[0][1]*1.0)
ax1.set_ylim(-robots[0].roomLimits_[1][1]*0.7, robots[0].roomLimits_[1][1]*1.0)
# Generamos los puntos y los trazos
user_shape = user.Shape((0, 0, 0))
user_patch = PolygonPatch(user_shape, fc='orange', alpha=0.5, zorder=2)
user_head = plt.Circle((user.path_[0][0], user.path_[0][1]), 0.2, fc='orange', alpha=5)
user_text = ax1.text(user.path_[-1][0]+0.2, user.path_[-1][1], 'User', fontsize=10, zorder=3)
obstacles_polygon = []
for obs in obstacles:
obstacles_polygon.append(plt.Circle((obs.position_[0], obs.position_[1]), obs.radius_, fc='black', alpha=5))
ax1.add_patch(obstacles_polygon[-1])
trace = []
histories_x = []
histories_y = []
cars = []
cars_back = []
views = []
# circles = []
texts = []
for i, robot in enumerate(robots):
trace.append(ax1.plot([], [], '-', color=colors[i], lw=1)[0])
histories_x.append(deque(maxlen=history_len))
histories_y.append(deque(maxlen=history_len))
texts.append(ax1.text(robot.path_[0][0]+side, robot.path_[0][1], 'ID:%s'%i,
fontsize=10, fontweight='bold', zorder=3))
# if i == 0:
# leader_text = ax1.text(robot.path_[0][0]+side-0.2, robot.path_[0][1]+side+0.1, 'Leader',
# fontsize=10, zorder=3)
car = robot.TriangleShape((0, 0, 0))
car_back = robot.rectangle_shape((0, 0, 0))
view = robot.viewShape((0, 0, 0, 0))
cars.append(PolygonPatch(car, fc=colors[i], alpha=1.0, zorder=2))
cars_back.append(PolygonPatch(car_back, fc=colors[i], alpha=1.0, zorder=2))
views.append(PolygonPatch(view, fc='yellow', alpha=0.1, zorder=2))
# circles.append(plt.Circle((robot.path_[0][0], robot.path_[0][1]), robot.radius_ , fc=colors[i], alpha=0.7))
# Funciones para animacion
def init():
ax1.add_patch(user_patch)
ax1.add_patch(user_head)
for i in range(len(robots)):
ax1.add_patch(cars[i])
ax1.add_patch(cars_back[i])
ax1.add_patch(views[i])
# ax1.add_patch(circles[i])
return []
def animate(index):
# print(index)
# Posicion de usuario
# theta = user.path_[index][2] - (np.pi/2)
theta = user.path_[index][2]
x = user.path_[index][0]
y = user.path_[index][1]
r = mpl.transforms.Affine2D().rotate(theta)
t = mpl.transforms.Affine2D().translate(x, y)
tra = r + t + ax1.transData
user_patch.set_transform(tra)
user_head.center = (user.path_[index][0], user.path_[index][1])
user_text.set_position((user.path_[index][0]+0.2, user.path_[index][1]))
# Posicion de robots
for i, robot in enumerate(robots):
this_x = robot.path_[index][0]
this_y = robot.path_[index][1]
if index == 0:
histories_x[i].clear()
histories_y[i].clear()
histories_x[i].appendleft(this_x)
histories_y[i].appendleft(this_y)
trace[i].set_data(histories_x[i], histories_y[i])
texts[i].set_position((robot.path_[index][0]+side, robot.path_[index][1]))
# if robot.leader_[index]:
# leader_text.set_position((robot.path_[index][0]+side-0.2, robot.path_[index][1]+side-1.5))
# print(robot.id_)
# input()
# Transformacion de poligono
theta = robot.path_[index][2]
alpha = robot.path_[index][3]
# theta = robot.path_[index][2] - robot.path_[index-1][2]
x = robot.path_[index][0]
y = robot.path_[index][1]
r = mpl.transforms.Affine2D().rotate(theta)
r_alpha = mpl.transforms.Affine2D().rotate(alpha)
t = mpl.transforms.Affine2D().translate(x, y)
tra = r + t + ax1.transData
tra_camara = r_alpha + t + ax1.transData
cars[i].set_transform(tra)
cars_back[i].set_transform(tra)
views[i].set_transform(tra_camara)
# circles[i].center = (robot.path_[index][0], robot.path_[index][1])
# return cars, views, circles, trace, user_patch, user_patch
return cars, views, cars_back, trace, user_patch, user_patch
ani = animation.FuncAnimation(fig1, animate, init_func=init, frames=frames, interval=animated_time)
ani.save('Simulation.mp4', fps=9)
plt.show()
# End
def visualize_state_4(robots, user, obstacles):
print('Graficnado...')
colors = cmx.rainbow(np.linspace(0, 1, len(robots)))
side = 0.4
fig, ax = plt.subplots()
ax.set_title('Multi-robot formation without Obstacles')
ax.set_xlim(-user.roomLimits_[0][1]*1.2, user.roomLimits_[0][1]*1.2)
ax.set_ylim(-user.roomLimits_[1][1]*1.2, user.roomLimits_[1][1]*1.2)
obstacles_polygon = []
for obs in obstacles:
obstacles_polygon.append(plt.Circle((obs.position_[0], obs.position_[1]), obs.radius_, fc='black', alpha=5))
ax.add_patch(obstacles_polygon[-1])
# Agregando al usuario a la grafica
user_shape = user.Shape(user.path_[-1])
user_patch = PolygonPatch(user_shape, fc='orange', alpha=0.5, zorder=2)
user_head = plt.Circle((user.path_[-1][0], user.path_[-1][1]), 0.2, fc='orange', alpha=5)
ax.add_patch(user_head)
ax.add_patch(user_patch)
ax.text(user.path_[-1][0]+0.2, user.path_[-1][1], 'User', fontsize=10, zorder=3)
# Agregando los robots a la grafica
for robotID, robot in enumerate(robots):
aux_triangle = robot.TriangleShape(robot.path_[-1])
aux_patch = PolygonPatch(aux_triangle, fc=colors[robotID], alpha=1, zorder=2)
aux_view = robot.viewShape(robot.path_[-1])
aux_patch_view = PolygonPatch(aux_view, fc='yellow', alpha=0.1, zorder=2)
aux_circle = plt.Circle((robot.path_[-1][0], robot.path_[-1][1]), robot.radius_, fc=colors[robotID], alpha=0.7)
ax.add_patch(aux_patch)
ax.add_patch(aux_patch_view)
ax.add_patch(aux_circle)
# Graficando ID de Robot
ax.text(robot.path_[-1][0]+side, robot.path_[-1][1], 'ID:%s'%robotID,
fontsize=10, fontweight='bold', zorder=3)
# if robot.leader_[-1]:
# ax.text(robot.path_[-1][0]+side-0.2, robot.path_[-1][1]+side+0.1, 'Leader',
# fontsize=10, zorder=3)
for robot in robots:
for pos in robot.path_:
ax.plot(pos[0], pos[1], '.', color='red')
for point in user.path_:
ax.plot(point[0], point[1], '.', color='orange')
plt.show()
# Middle
def visualize_state_3(robots, user, obstacles):
print('Graficnado...')
index = int( 2 * len(robots[0].path_) / 3)
colors = cmx.rainbow(np.linspace(0, 1, len(robots)))
side = 0.4
fig, ax = plt.subplots()
ax.set_title('Multi-robot formation without Obstacles')
ax.set_xlim(-user.roomLimits_[0][1]*1.2, user.roomLimits_[0][1]*1.2)
ax.set_ylim(-user.roomLimits_[1][1]*1.2, user.roomLimits_[1][1]*1.2)
obstacles_polygon = []
for obs in obstacles:
obstacles_polygon.append(plt.Circle((obs.position_[0], obs.position_[1]), obs.radius_, fc='black', alpha=5))
ax.add_patch(obstacles_polygon[-1])
# Agregando al usuario a la grafica
user_shape = user.Shape(user.path_[index])
user_patch = PolygonPatch(user_shape, fc='orange', alpha=0.5, zorder=2)
user_head = plt.Circle((user.path_[index][0], user.path_[-1][1]), 0.2, fc='orange', alpha=5)
ax.add_patch(user_head)
ax.add_patch(user_patch)
ax.text(user.path_[index][0]+0.2, user.path_[index][1], 'User', fontsize=10, zorder=3)
# Agregando los robots a la grafica
for robotID, robot in enumerate(robots):
aux_triangle = robot.TriangleShape(robot.path_[index])
aux_patch = PolygonPatch(aux_triangle, fc=colors[robotID], alpha=1, zorder=2)
aux_view = robot.viewShape(robot.path_[index])
aux_patch_view = PolygonPatch(aux_view, fc='yellow', alpha=0.1, zorder=2)
aux_circle = plt.Circle((robot.path_[index][0], robot.path_[index][1]), robot.radius_, fc=colors[robotID], alpha=0.7)
ax.add_patch(aux_patch)
ax.add_patch(aux_patch_view)
ax.add_patch(aux_circle)
# Graficando ID de Robot
ax.text(robot.path_[index][0]+side, robot.path_[index][1], 'ID:%s'%robotID,
fontsize=10, fontweight='bold', zorder=3)
# if robot.leader_[index]:
# ax.text(robot.path_[index][0]+side-0.2, robot.path_[index][1]+side+0.1, 'Leader',
# fontsize=10, zorder=3)
for robot in robots:
for i in range(int(index/2), index):
ax.plot(robot.path_[i][0], robot.path_[i][1], '.', color='red')
for i in range(int(index/2), index):
ax.plot(user.path_[i][0], user.path_[i][1], '.', color='orange')
def visualize_state_2(robots, user, obstacles):
print('Graficnado...')
index = int(len(robots[0].path_) / 3)
colors = cmx.rainbow(np.linspace(0, 1, len(robots)))
side = 0.4
fig, ax = plt.subplots()
ax.set_title('Multi-robot formation without Obstacles')
ax.set_xlim(-user.roomLimits_[0][1]*1.2, user.roomLimits_[0][1]*1.2)
ax.set_ylim(-user.roomLimits_[1][1]*1.2, user.roomLimits_[1][1]*1.2)
obstacles_polygon = []
for obs in obstacles:
obstacles_polygon.append(plt.Circle((obs.position_[0], obs.position_[1]), obs.radius_, fc='black', alpha=5))
ax.add_patch(obstacles_polygon[-1])
# Agregando al usuario a la grafica
user_shape = user.Shape(user.path_[index])
user_patch = PolygonPatch(user_shape, fc='orange', alpha=0.5, zorder=2)
user_head = plt.Circle((user.path_[index][0], user.path_[-1][1]), 0.2, fc='orange', alpha=5)
ax.add_patch(user_head)
ax.add_patch(user_patch)
ax.text(user.path_[index][0]+0.2, user.path_[index][1], 'User', fontsize=10, zorder=3)
# Agregando los robots a la grafica
for robotID, robot in enumerate(robots):
aux_triangle = robot.TriangleShape(robot.path_[index])
aux_patch = PolygonPatch(aux_triangle, fc=colors[robotID], alpha=1, zorder=2)
aux_view = robot.viewShape(robot.path_[index])
aux_patch_view = PolygonPatch(aux_view, fc='yellow', alpha=0.1, zorder=2)
aux_circle = plt.Circle((robot.path_[index][0], robot.path_[index][1]), robot.radius_, fc=colors[robotID], alpha=0.7)
ax.add_patch(aux_patch)
ax.add_patch(aux_patch_view)
ax.add_patch(aux_circle)
# Graficando ID de Robot
ax.text(robot.path_[index][0]+side, robot.path_[index][1], 'ID:%s'%robotID,
fontsize=10, fontweight='bold', zorder=3)
# if robot.leader_[index]:
# ax.text(robot.path_[index][0]+side-0.2, robot.path_[index][1]+side+0.1, 'Leader',
# fontsize=10, zorder=3)
for robot in robots:
for i in range(int(index/2), index):
ax.plot(robot.path_[i][0], robot.path_[i][1], '.', color='red')
for i in range(int(index/2), index):
ax.plot(user.path_[i][0], user.path_[i][1], '.', color='orange')
# Beggin
def visualize_state_1(robots, user, obstacles):
print('Graficnado...')
# index = int(len(robots[0].path_) / 6)
index = int(0)
colors = cmx.rainbow(np.linspace(0, 1, len(robots)))
side = 0.4
fig, ax = plt.subplots()
ax.set_title('Multi-robot formation without Obstacles')
ax.set_xlim(-user.roomLimits_[0][1]*1.2, user.roomLimits_[0][1]*1.2)
ax.set_ylim(-user.roomLimits_[1][1]*1.2, user.roomLimits_[1][1]*1.2)
obstacles_polygon = []
for obs in obstacles:
obstacles_polygon.append(plt.Circle((obs.position_[0], obs.position_[1]), obs.radius_, fc='black', alpha=5))
ax.add_patch(obstacles_polygon[-1])
# Agregando al usuario a la grafica
user_shape = user.Shape(user.path_[index])
user_patch = PolygonPatch(user_shape, fc='orange', alpha=0.5, zorder=2)
user_head = plt.Circle((user.path_[index][0], user.path_[index][1]), 0.2, fc='orange', alpha=5)
ax.add_patch(user_head)
ax.add_patch(user_patch)
ax.text(user.path_[index][0]+0.2, user.path_[index][1], 'User', fontsize=10, zorder=3)
# Agregando los robots a la grafica
for robotID, robot in enumerate(robots):
aux_triangle = robot.TriangleShape(robot.path_[index])
aux_patch = PolygonPatch(aux_triangle, fc=colors[robotID], alpha=1, zorder=2)
aux_view = robot.viewShape(robot.path_[index])
aux_patch_view = PolygonPatch(aux_view, fc='yellow', alpha=0.1, zorder=2)
aux_circle = plt.Circle((robot.path_[index][0], robot.path_[index][1]), robot.radius_, fc=colors[robotID], alpha=0.7)
ax.add_patch(aux_patch)
ax.add_patch(aux_patch_view)
ax.add_patch(aux_circle)
# Graficando ID de Robot
ax.text(robot.path_[index][0]+side, robot.path_[index][1], 'ID:%s'%robotID,
fontsize=10, fontweight='bold', zorder=3)
# if robot.leader_[index]:
# ax.text(robot.path_[index][0]+side-0.2, robot.path_[index][1]+side+0.1, 'Leader',
# fontsize=10, zorder=3)
for robot in robots:
for i in range(index):
ax.plot(robot.path_[i][0], robot.path_[i][1], '.', color='red')
for i in range(index):
ax.plot(user.path_[i][0], user.path_[i][1], '.', color='orange')
plt.show()