irsim.env.env_plot#

This file is the implementation of the environment plot to visualize the environment objects.

Author: Ruihua Han

Classes#

EnvPlot

EnvPlot class for visualizing the environment.

Functions#

linewidth_from_data_units(linewidth, axis[, reference])

Convert a linewidth in data units to linewidth in points.

Module Contents#

class irsim.env.env_plot.EnvPlot(world, objects=[], saved_figure=dict(), figure_pixels: list = [1000, 800], show_title: bool = True, **kwargs)[source]#

EnvPlot class for visualizing the environment.

Parameters:

  • world – The world object containing environment information including grid_map, x_range, y_range.

  • objects (list, optional) – List of objects in the environment. Default is [].

  • saved_figure (dict, optional) – Keyword arguments for saving the figure. See https://matplotlib.org/3.1.1/api/_as_gen/matplotlib.pyplot.savefig.html for details. Default is dict().

  • figure_pixels (list, optional) – Width and height of the figure in pixels. Default is [1180, 1080].

  • show_title (bool, optional) – Whether to show the title. Default is True.

  • kwargs – Additional options such as color_map, no_axis, and tight.

Initialize the EnvPlot instance.

Sets up the matplotlib figure, configures plotting parameters, and initializes the plot with world data and objects.

world#
x_range#
y_range#
show_title = True#
title = None#
saved_figure_kwargs#
color_map#
saved_ani_kwargs#
dyna_line_list = []#
dyna_point_list = []#
dyna_quiver_list = []#
init_plot(grid_map, objects, no_axis=False, tight=True, **kwargs)[source]#

Initialize the plot with the given grid map and objects.

Parameters:

  • grid_map (optional) – The grid map of the environment.

  • objects (list) – List of objects to plot.

  • no_axis (bool, optional) – Whether to show the axis. Default is False.

  • tight (bool, optional) – Whether to show the axis tightly. Default is True.

step(mode='dynamic', objects=[], **kwargs)[source]#
init_objects_plot(objects, **kwargs)[source]#
step_objects_plot(mode='dynamic', objects=[], **kwargs)[source]#

Update the plot for the objects.

draw_components(mode='all', objects=[], **kwargs)[source]#

Draw the components in the environment.

Parameters:

  • mode (str) – ‘static’, ‘dynamic’, or ‘all’ to specify which objects to draw.

  • objects (list) – List of objects to draw.

  • kwargs – Additional plotting options.

clear_components(mode='all', objects=[])[source]#

Clear the components in the environment.

Parameters:

  • mode (str) – ‘static’, ‘dynamic’, or ‘all’ to specify which objects to clear.

  • objects (list) – List of objects to clear.

draw_grid_map(grid_map=None, **kwargs)[source]#

Draw the grid map on the plot.

Parameters:

grid_map (optional) – The grid map to draw.

draw_trajectory(traj, traj_type='g-', label='trajectory', show_direction=False, refresh=False, **kwargs)[source]#

Draw a trajectory on the plot.

Parameters:

  • traj (list or np.ndarray) – List of points or array of points [x, y, theta].

  • traj_type (str) – Type of trajectory line (e.g., ‘g-‘). See https://matplotlib.org/3.1.1/api/_as_gen/matplotlib.pyplot.plot.html for details.

  • label (str) – Label for the trajectory.

  • show_direction (bool) – Whether to show the direction of the trajectory.

  • refresh (bool) – Whether to refresh the plot.

  • kwargs – Additional plotting options for ax.plot()

draw_points(points, s=10, c='m', refresh=True, **kwargs)[source]#

Draw points on the plot.

Parameters:

  • points (list) – List of points, each point as [x, y] or (2, 1) array or (np.array): points array: (2, N), NL number of points

  • s (int) – Size of the points.

  • c (str) – Color of the points.

  • refresh (bool) – Whether to refresh the plot.

  • kwargs – Additional plotting options.

draw_quiver(point, refresh=False, color='black', **kwargs)[source]#

Draw a quiver plot on the plot.

Parameters:

  • points (4*1 np.ndarray) – List of points, each point as [x, y, u, v]. u, v are the components of the vector.

  • kwargs – Additional plotting options.

draw_quivers(points, refresh=False, color='black', **kwargs)[source]#

Draw a series of quiver plot on the plot.

Parameters:

points (list or np.ndarray) – List of points, each point as [x, y, u, v]. u, v are the components of the vector.

draw_box(vertices, refresh=False, color='b-')[source]#

Draw a box by the vertices.

Parameters:

  • vertices (np.ndarray) – 2xN array of vertices.

  • refresh (bool) – Whether to refresh the plot.

  • color (str) – Color and line type of the box.

update_title()[source]#
save_figure(file_name='', file_format='png', include_index=False, save_gif=False, **kwargs)[source]#

Save the current figure.

Parameters:
save_animate(ani_name='animation', suffix='.gif', last_frame_duration=1, rm_fig_path=True, **kwargs)[source]#

Save the animation.

Parameters:

  • ani_name (str) – Name of the animation. Default is ‘animation’.

  • last_frame_duration (int) – Duration of the last frame for the gif. Default is 1 second.

  • suffix (str) – Suffix of the animation file. Default is ‘.gif’.

  • rm_fig_path (bool) – Whether to remove the figure path after saving. Default is True.

  • kwargs – Additional arguments for saving the animation. See imageio.imwrite for details.

show()[source]#

Display the plot.

close()[source]#

Close the plot.

property logger#
irsim.env.env_plot.linewidth_from_data_units(linewidth, axis, reference='y')[source]#

Convert a linewidth in data units to linewidth in points.

Parameters:

  • linewidth (float) – Linewidth in data units of the respective reference-axis

  • axis (matplotlib axis) – The axis which is used to extract the relevant transformation data (data limits and size must not change afterwards)

  • reference (string) – The axis that is taken as a reference for the data width. Possible values: ‘x’ and ‘y’. Defaults to ‘y’.

Returns:

linewidth – Linewidth in points

Return type:

float