From 5d7d86ac9e7ada042b2066fa52ba0d1a50ae2f50 Mon Sep 17 00:00:00 2001 From: Jiri Vlasak Date: Tue, 14 Mar 2023 18:18:58 +0100 Subject: [PATCH] By default, show plotted scenario --- scripts/plot_scenario.py | 305 ++++++++++++++++++++------------------- 1 file changed, 153 insertions(+), 152 deletions(-) diff --git a/scripts/plot_scenario.py b/scripts/plot_scenario.py index 804275a..0d10501 100755 --- a/scripts/plot_scenario.py +++ b/scripts/plot_scenario.py @@ -202,8 +202,8 @@ if __name__ == "__main__": plt.rcParams["figure.figsize"] = [14, 7] plt.rcParams["font.family"] = "cmr10" plt.rcParams["font.size"] = 24 - plt.rcParams['hatch.linewidth'] = 6.0 - plt.rcParams['lines.linewidth'] = 2.0 + plt.rcParams['hatch.linewidth'] = 1 # 6.0 + plt.rcParams['lines.linewidth'] = 1 # 2.0 fig = plt.figure() # here subplot starts @@ -331,8 +331,8 @@ if __name__ == "__main__": if n[1] > MAXY: MAXY = n[1] print("w: {}, h: {}".format(abs(MAXX - MINX), abs(MAXY - MINY))) - #MINY = -25 - #MINX = -10 + MINY = 0 + MINX = 0 c1 = plt.Circle( (-744239.7727016528 - MINX, -1044308.987006895 - MINY), 4.8677125017335845, @@ -363,153 +363,153 @@ if __name__ == "__main__": #ax.add_patch(c4) # For Goal Zone figure, "Goal zone" file name in j1/figs/ - def r2d(w): - return w*180.0/pi - ax.set_ylim([-4.8, 2.8]) - ax.set_xlim([-13, 5]) - gz_ccr = matplotlib.patches.Arc( - (-744206.185356 - MINX, -1044330.294266 - MINY), - 5.207071 * 2, 5.207071 * 2, - theta1=r2d(atan2(-1044325.281765 - -1044330.294266, -744204.775115 - -744206.185356)), - theta2=r2d(atan2(-1044325.6618554679 - -1044330.294266, -744208.5632466434 - -744206.185356)), - color="magenta", - fill=False, - lw=2, - ) - ax.add_patch(gz_ccr) - gz_ccr = matplotlib.patches.Arc( - (-744206.185356 - MINX + 3.99, -1044330.294266 - MINY + 2.05), - 5.207071 * 2, 5.207071 * 2, - theta1=r2d(atan2(-1044325.281765 - -1044330.294266, -744204.775115 - -744206.185356)), - theta2=r2d(atan2(-1044325.6618554679 - -1044330.294266, -744208.5632466434 - -744206.185356)), - color="magenta", - fill=False, - lw=2, ls="dotted", - ) - ax.add_patch(gz_ccr) - gz_gh = 0.47424360277825361 - gz_ih = -0.27424360277825361 - def li(x, y, h, le=10.0): - return (x, x + le * cos(h)), (y, y + le * sin(h)) - # gz border - plt.plot(*li(-744204.775115 - MINX, -1044325.281765 - MINY, gz_gh), - color="orange", ls="dotted") - plt.plot(*li(-744204.775115 - MINX, -1044325.281765 - MINY, gz_ih), - color="red", ls="dotted") - # path - plt.plot( - *li(-744208.5632466434 - MINX, -1044325.6618554679 - MINY, gz_gh, 4.47), - color="orange", ls="solid") - plt.plot( - *li(-744199.2632466434 - MINX, -1044323.6618554679 - MINY, gz_ih, -1.55), - color="red", ls="solid") - ax.text( - -744208.5632466434 - MINX, - -1044325.6618554679 - MINY - 1.5, - "C", - color="orange", - fontfamily="serif", - fontstyle="italic", - ) - ax.text( - -744208.5632466434 - MINX + 0.35, - -1044325.6618554679 - MINY - 1.7, - "E", - color="orange", - fontfamily="serif", - fontstyle="italic", - fontsize=16, - ) - ax.text( - -744199.2632466434 - MINX, - -1044323.6618554679 - MINY - 1.5, - "C", - color="red", - fontfamily="serif", - fontstyle="italic", - ) - ax.text( - -744199.2632466434 - MINX + 0.35, - -1044323.6618554679 - MINY - 1.7, - "g", - color="red", - fontfamily="serif", - fontstyle="italic", - fontsize=16, - ) - ax.text( - -744199.2632466434 - MINX, - -1044323.6618554679 - MINY - 3.9, - "θ", - color="red", - fontfamily="serif", - fontstyle="italic", - ) - ax.text( - -744199.2632466434 - MINX + 0.35, - -1044323.6618554679 - MINY - 4.1, - "G", - color="red", - fontfamily="serif", - fontstyle="italic", - fontsize=16, - ) - ax.arrow( - -744199.2632466434 - MINX, - -1044323.6618554679 - MINY - 3.18, - cos(gz_ih), - sin(gz_ih), - width=0.05, - color="red", - zorder=2, - ) - ax.text( - -744199.2632466434 - MINX, - -1044323.6618554679 - MINY + 1.9, - "θ", - color="orange", - fontfamily="serif", - fontstyle="italic", - ) - ax.text( - -744199.2632466434 - MINX + 0.35, - -1044323.6618554679 - MINY + 1.7, - "E", - color="orange", - fontfamily="serif", - fontstyle="italic", - fontsize=16, - ) - ax.arrow( - -744199.2632466434 - MINX, - -1044323.6618554679 - MINY + 1.22, - cos(gz_gh), - sin(gz_gh), - width=0.05, - color="orange", - zorder=2, - ) - ax.text( - -744199.2632466434 - MINX + 2, - -1044323.6618554679 - MINY + -3, - "G", - color="dimgray", - fontfamily="serif", - fontstyle="normal", - fontweight="bold", - backgroundcolor="white", - ) - ax.fill(( - -MINX -744204.775115, - -MINX -744204.775115 + 15 * cos(0.47424360277825361), - -MINX -744204.775115 + 15 * cos(0.27424360277825361), - -MINX -744204.775115, - ), ( - -MINY -1044325.281765, - -MINY -1044325.281765 + 15 * sin(0.47424360277825361), - -MINY -1044325.281765 - 15 * sin(0.27424360277825361), - -MINY -1044325.281765, - ), color="gainsboro", fill=False, hatch="x") + # def r2d(w): + # return w*180.0/pi + # ax.set_ylim([-4.8, 2.8]) + # ax.set_xlim([-13, 5]) + # gz_ccr = matplotlib.patches.Arc( + # (-744206.185356 - MINX, -1044330.294266 - MINY), + # 5.207071 * 2, 5.207071 * 2, + # theta1=r2d(atan2(-1044325.281765 - -1044330.294266, -744204.775115 - -744206.185356)), + # theta2=r2d(atan2(-1044325.6618554679 - -1044330.294266, -744208.5632466434 - -744206.185356)), + # color="magenta", + # fill=False, + # lw=2, + # ) + # ax.add_patch(gz_ccr) + # gz_ccr = matplotlib.patches.Arc( + # (-744206.185356 - MINX + 3.99, -1044330.294266 - MINY + 2.05), + # 5.207071 * 2, 5.207071 * 2, + # theta1=r2d(atan2(-1044325.281765 - -1044330.294266, -744204.775115 - -744206.185356)), + # theta2=r2d(atan2(-1044325.6618554679 - -1044330.294266, -744208.5632466434 - -744206.185356)), + # color="magenta", + # fill=False, + # lw=2, ls="dotted", + # ) + # ax.add_patch(gz_ccr) + # gz_gh = 0.47424360277825361 + # gz_ih = -0.27424360277825361 + # def li(x, y, h, le=10.0): + # return (x, x + le * cos(h)), (y, y + le * sin(h)) + # # gz border + # plt.plot(*li(-744204.775115 - MINX, -1044325.281765 - MINY, gz_gh), + # color="orange", ls="dotted") + # plt.plot(*li(-744204.775115 - MINX, -1044325.281765 - MINY, gz_ih), + # color="red", ls="dotted") + # # path + # plt.plot( + # *li(-744208.5632466434 - MINX, -1044325.6618554679 - MINY, gz_gh, 4.47), + # color="orange", ls="solid") + # plt.plot( + # *li(-744199.2632466434 - MINX, -1044323.6618554679 - MINY, gz_ih, -1.55), + # color="red", ls="solid") + # ax.text( + # -744208.5632466434 - MINX, + # -1044325.6618554679 - MINY - 1.5, + # "C", + # color="orange", + # fontfamily="serif", + # fontstyle="italic", + # ) + # ax.text( + # -744208.5632466434 - MINX + 0.35, + # -1044325.6618554679 - MINY - 1.7, + # "E", + # color="orange", + # fontfamily="serif", + # fontstyle="italic", + # fontsize=16, + # ) + # ax.text( + # -744199.2632466434 - MINX, + # -1044323.6618554679 - MINY - 1.5, + # "C", + # color="red", + # fontfamily="serif", + # fontstyle="italic", + # ) + # ax.text( + # -744199.2632466434 - MINX + 0.35, + # -1044323.6618554679 - MINY - 1.7, + # "g", + # color="red", + # fontfamily="serif", + # fontstyle="italic", + # fontsize=16, + # ) + # ax.text( + # -744199.2632466434 - MINX, + # -1044323.6618554679 - MINY - 3.9, + # "θ", + # color="red", + # fontfamily="serif", + # fontstyle="italic", + # ) + # ax.text( + # -744199.2632466434 - MINX + 0.35, + # -1044323.6618554679 - MINY - 4.1, + # "G", + # color="red", + # fontfamily="serif", + # fontstyle="italic", + # fontsize=16, + # ) + # ax.arrow( + # -744199.2632466434 - MINX, + # -1044323.6618554679 - MINY - 3.18, + # cos(gz_ih), + # sin(gz_ih), + # width=0.05, + # color="red", + # zorder=2, + # ) + # ax.text( + # -744199.2632466434 - MINX, + # -1044323.6618554679 - MINY + 1.9, + # "θ", + # color="orange", + # fontfamily="serif", + # fontstyle="italic", + # ) + # ax.text( + # -744199.2632466434 - MINX + 0.35, + # -1044323.6618554679 - MINY + 1.7, + # "E", + # color="orange", + # fontfamily="serif", + # fontstyle="italic", + # fontsize=16, + # ) + # ax.arrow( + # -744199.2632466434 - MINX, + # -1044323.6618554679 - MINY + 1.22, + # cos(gz_gh), + # sin(gz_gh), + # width=0.05, + # color="orange", + # zorder=2, + # ) + # ax.text( + # -744199.2632466434 - MINX + 2, + # -1044323.6618554679 - MINY + -3, + # "G", + # color="dimgray", + # fontfamily="serif", + # fontstyle="normal", + # fontweight="bold", + # backgroundcolor="white", + # ) + # ax.fill(( + # -MINX -744204.775115, + # -MINX -744204.775115 + 15 * cos(0.47424360277825361), + # -MINX -744204.775115 + 15 * cos(0.27424360277825361), + # -MINX -744204.775115, + # ), ( + # -MINY -1044325.281765, + # -MINY -1044325.281765 + 15 * sin(0.47424360277825361), + # -MINY -1044325.281765 - 15 * sin(0.27424360277825361), + # -MINY -1044325.281765, + # ), color="gainsboro", fill=False, hatch="x") # --- End of Goal Zone figure --- # Plot all the nodes (if exists.) @@ -855,5 +855,6 @@ if __name__ == "__main__": # Uncommnent the following line and comment the plt.show() to store to the # file. - plt.savefig("out.pdf", bbox_inches="tight") + #plt.savefig("out.pdf", bbox_inches="tight") + plt.show() plt.close(fig) -- 2.39.2