irsim.env.env_plot3d#

Classes#

EnvPlot3D

EnvPlot class for visualizing the environment.

Module Contents#

class irsim.env.env_plot3d.EnvPlot3D(world, objects=[], saved_figure=dict(), figure_pixels: list = [1180, 1080], show_title: bool = True, **kwargs)[source]#

Bases: irsim.env.env_plot.EnvPlot

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.

ax#
z_range#
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, z].

  • 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, **kwargs)[source]#

Draw a quiver plot on the plot.

Parameters:

  • points (6*1 np.ndarray) – List of points, each point as [x, y, z, u, v, w]. u, v, w are the components of the vector.

  • kwargs – Additional plotting options.

draw_quivers(points, refresh=False, **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, z, u, v, w]. u, v, w are the components of the vector.

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, z].

  • 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()