irsim.world.object_plot

Matplotlib rendering for irsim.world.object_base.ObjectBase.

Classes

VisibilityOptions	Control which components of an object are rendered.
PatchStyle	Style shared by object and goal patches.
ImageStyle	Style specific to an object's description image.
LineStyle	Style and history length for a trajectory line.
TextStyle	Style and offset for object and goal labels.
TrailStyle	Style, frequency, and retention policy for object trails.
ArrowStyle	Style and dimensions for the velocity arrow.
FovStyle	Style for the field-of-view patch.
ObjectPlotOptions	Complete immutable plotting configuration for one object.
ObjectPlot	Render and update the Matplotlib artists for one simulation object.

Module Contents

class irsim.world.object_plot.VisibilityOptions

Control which components of an object are rendered.

goal: bool = False

goal_text: bool = False

goals: bool = False

text: bool = False

arrow: bool = False

trajectory: bool = False

trail: bool = False

sensor: bool = True

fov: bool = False

class irsim.world.object_plot.PatchStyle

Style shared by object and goal patches.

color: Any = 'k'

alpha: float = 1.0

zorder: int = 1

linestyle: str = '-'

line_width: float = 1.0

class irsim.world.object_plot.ImageStyle

Style specific to an object's description image.

zorder: int = 2

class irsim.world.object_plot.LineStyle

Style and history length for a trajectory line.

color: Any = 'k'

style: str = '-'

width: float = 1.0

alpha: float = 0.5

zorder: int = 0

keep_length: int = 0

class irsim.world.object_plot.TextStyle

Style and offset for object and goal labels.

color: Any = 'k'

size: float = 10.0

position: tuple[float, float] = (0.0, 0.0)

alpha: float = 1.0

zorder: int = 2

class irsim.world.object_plot.TrailStyle

Style, frequency, and retention policy for object trails.

shape: str = 'circle'

edge_color: Any = 'k'

line_width: float = 0.8

alpha: float = 0.7

fill: bool = False

color: Any = 'k'

zorder: int = 0

frequency: int = 2

keep_length: int = 0

class irsim.world.object_plot.ArrowStyle

Style and dimensions for the velocity arrow.

color: Any = 'gold'

alpha: float = 1.0

zorder: int = 3

length: float = 0.4

width: float = 0.6

class irsim.world.object_plot.FovStyle

Style for the field-of-view patch.

color: Any = 'lightblue'

edge_color: Any = 'blue'

alpha: float = 0.5

zorder: int = 1

class irsim.world.object_plot.ObjectPlotOptions

Complete immutable plotting configuration for one object.

visibility: VisibilityOptions

object: PatchStyle

image: ImageStyle

goal: PatchStyle

trajectory: LineStyle

text: TextStyle

trail: TrailStyle

arrow: ArrowStyle

fov: FovStyle

classmethod defaults(*, color: Any, width: float, radius: float, shape: str, object_zorder: int) → ObjectPlotOptions

Create owner-dependent plotting defaults.

with_overrides(values: collections.abc.Mapping[str, Any]) → ObjectPlotOptions

Return a new options value with legacy keyword overrides applied.

class irsim.world.object_plot.ObjectPlot(owner: irsim.world.object_base.ObjectBase)

Render and update the Matplotlib artists for one simulation object.

Simulation and artist state is accessed explicitly through owner. Artist attributes intentionally remain on ObjectBase to preserve the existing plotting API while moving rendering behavior out of the model.

options

property owner: irsim.world.object_base.ObjectBase

Return the owner through the explicit renderer interface.

plot(ax: Any, state: numpy.ndarray | None = None, vertices: numpy.ndarray | None = None, **kwargs: Any) → None

Plot the object on ax using optional state and vertices.

init(ax: Any, **kwargs: Any) → list[str]

Create the object's artists at its original state.

draw(ax: Any, state: numpy.ndarray, vertices: numpy.ndarray | None, initial: bool = False, **kwargs: Any) → list[str]

Create the configured artists for one object.

step(**kwargs: Any) → None

Update existing artists from the owner's current state.

plot_object(ax: Any, state: numpy.ndarray | None = None, vertices: numpy.ndarray | None = None, _options: ObjectPlotOptions | None = None, **kwargs: Any) → None

Draw the object's geometry or configured description image.

plot_object_image(ax: Any, state: numpy.ndarray | None = None, vertices: numpy.ndarray | None = None, description: str | None = None, **kwargs: Any) → None

Draw an image description at the object's pose.

plot_trajectory(ax: Any, trajectory: list[Any] | None = None, keep_traj_length: int = 0, _options: ObjectPlotOptions | None = None, **kwargs: Any) → None

Draw the object's trajectory.

plot_goal(ax: Any, goal_state: numpy.ndarray | None = None, vertices: numpy.ndarray | None = None, goal_color: str | None = None, goal_zorder: int | None = 1, goal_alpha: float | None = 0.5, _options: ObjectPlotOptions | None = None, **kwargs: Any) → None

Draw the object's goal geometry.

plot_text(ax: Any, state: numpy.ndarray | None = None, _options: ObjectPlotOptions | None = None, **kwargs: Any) → None

Draw the object label and optional goal label.

plot_arrow(ax: Any, state: numpy.ndarray | None = None, velocity: numpy.ndarray | None = None, arrow_theta: float | None = 0.0, arrow_length: float = 0.4, arrow_width: float = 0.6, arrow_color: str | None = None, arrow_zorder: int = 3, _options: ObjectPlotOptions | None = None, **kwargs: Any) → None

Draw an arrow indicating the object's velocity orientation.

plot_trail(ax: Any, state: numpy.ndarray | None = None, vertices: numpy.ndarray | None = None, keep_trail_length: int = 0, _options: ObjectPlotOptions | None = None, **kwargs: Any) → None

Draw a historical outline of the object.

plot_fov(ax: Any, _options: ObjectPlotOptions | None = None, **kwargs: Any) → None

Draw the object's configured field of view.

plot_uncertainty(ax: Any, **kwargs: Any) → None

Reserved for future uncertainty rendering.

clear(all: bool = False) → None

Remove this object's artists, optionally including its trails.