Update: Make matplot as an option
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HuanWeng
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593fb0478e
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30aade3ea7
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@ -1,4 +1,4 @@
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import numpy as np
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from __version__ import __version__
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from core import *
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@ -18,6 +18,7 @@ Optional library: matplotlib
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*** IMPORTS ***
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'''
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import numpy as np
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import matplotlib.pyplot as plt
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'''
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@ -1301,16 +1302,20 @@ def InverseDynamicsTrajectory(thetamat, dthetamat, ddthetamat, g, \
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Tau2 = taumat[:, 1]
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Tau3 = taumat[:, 2]
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timestamp = np.linspace(0, Tf, N)
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import matplotlib.pyplot as plt
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plt.plot(timestamp, Tau1, label = "Tau1")
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plt.plot(timestamp, Tau2, label = "Tau2")
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plt.plot(timestamp, Tau3, label = "Tau3")
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plt.ylim (-40, 120)
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plt.legend(loc = 'lower right')
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plt.xlabel("Time")
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plt.ylabel("Torque")
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plt.title("Plot of Torque Trajectories")
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plt.show()
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try:
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import matplotlib.pyplot as plt
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except:
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print 'The result will not be plotted due to a lack of package matplotlib'
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else:
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plt.plot(timestamp, Tau1, label = "Tau1")
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plt.plot(timestamp, Tau2, label = "Tau2")
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plt.plot(timestamp, Tau3, label = "Tau3")
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plt.ylim (-40, 120)
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plt.legend(loc = 'lower right')
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plt.xlabel("Time")
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plt.ylabel("Torque")
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plt.title("Plot of Torque Trajectories")
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plt.show()
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"""
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thetamat = np.array(thetamat).T
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dthetamat = np.array(dthetamat).T
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@ -1355,7 +1360,6 @@ def ForwardDynamicsTrajectory(thetalist, dthetalist, taumat, g, Ftipmat, \
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Example Inputs (3 Link Robot):
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import modern_robotics as mr
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import matplotlib.pyplot as plt
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thetalist = np.array([0.1, 0.1, 0.1])
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dthetalist = np.array([0.1, 0.2, 0.3])
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taumat = np.array([[3.63, -6.58, -5.57], [3.74, -5.55, -5.5],
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@ -1406,18 +1410,23 @@ def ForwardDynamicsTrajectory(thetalist, dthetalist, taumat, g, Ftipmat, \
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N = np.array(taumat).shape[0]
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Tf = np.array(taumat).shape[0] * dt
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timestamp = np.linspace(0, Tf, N)
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plt.plot(timestamp, theta1, label = "Theta1")
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plt.plot(timestamp, theta2, label = "Theta2")
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plt.plot(timestamp, theta3, label = "Theta3")
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plt.plot(timestamp, dtheta1, label = "DTheta1")
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plt.plot(timestamp, dtheta2, label = "DTheta2")
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plt.plot(timestamp, dtheta3, label = "DTheta3")
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plt.ylim (-12, 10)
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plt.legend(loc = 'lower right')
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plt.xlabel("Time")
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plt.ylabel("Joint Angles/Velocities")
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plt.title("Plot of Joint Angles and Joint Velocities")
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plt.show()
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try:
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import matplotlib.pyplot as plt
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except:
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print 'The result will not be plotted due to a lack of package matplotlib'
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else:
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plt.plot(timestamp, theta1, label = "Theta1")
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plt.plot(timestamp, theta2, label = "Theta2")
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plt.plot(timestamp, theta3, label = "Theta3")
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plt.plot(timestamp, dtheta1, label = "DTheta1")
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plt.plot(timestamp, dtheta2, label = "DTheta2")
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plt.plot(timestamp, dtheta3, label = "DTheta3")
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plt.ylim (-12, 10)
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plt.legend(loc = 'lower right')
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plt.xlabel("Time")
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plt.ylabel("Joint Angles/Velocities")
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plt.title("Plot of Joint Angles and Joint Velocities")
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plt.show()
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"""
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taumat = np.array(taumat).T
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Ftipmat = np.array(Ftipmat).T
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@ -1861,23 +1870,27 @@ def SimulateControl(thetalist, dthetalist, g, Ftipmat, Mlist, Glist, \
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thetamat[:, i] = thetacurrent
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eint = np.add(eint, dt * np.subtract(thetamatd[:, i], thetacurrent))
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#Output using matplotlib to plot
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links = np.array(thetamat).shape[0]
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N = np.array(thetamat).shape[1]
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Tf = N * dt
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timestamp = np.linspace(0, Tf, N)
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#timestampd = np.linspace(0,Tf,(N/intRes))
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for i in range(links):
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col = [np.random.uniform(0, 1), np.random.uniform(0, 1),
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np.random.uniform(0, 1)]
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plt.plot(timestamp, thetamat[i, :], "-", color=col, \
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label = ("ActualTheta" + str(i + 1)))
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plt.plot(timestamp, thetamatd[i, :], ".", color=col, \
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label = ("DesiredTheta" + str(i + 1)))
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plt.legend(loc = 'upper left')
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plt.xlabel("Time")
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plt.ylabel("Joint Angles")
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plt.title("Plot of Actual and Desired Joint Angles")
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plt.show()
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try:
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import matplotlib.pyplot as plt
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except:
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print 'The result will not be plotted due to a lack of package matplotlib'
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else:
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links = np.array(thetamat).shape[0]
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N = np.array(thetamat).shape[1]
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Tf = N * dt
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timestamp = np.linspace(0, Tf, N)
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for i in range(links):
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col = [np.random.uniform(0, 1), np.random.uniform(0, 1),
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np.random.uniform(0, 1)]
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plt.plot(timestamp, thetamat[i, :], "-", color=col, \
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label = ("ActualTheta" + str(i + 1)))
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plt.plot(timestamp, thetamatd[i, :], ".", color=col, \
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label = ("DesiredTheta" + str(i + 1)))
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plt.legend(loc = 'upper left')
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plt.xlabel("Time")
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plt.ylabel("Joint Angles")
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plt.title("Plot of Actual and Desired Joint Angles")
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plt.show()
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taumat = np.array(taumat).T
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thetamat = np.array(thetamat).T
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return (taumat, thetamat)
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@ -2,7 +2,7 @@ from setuptools import setup
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setup(
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name = "modern_robotics",
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version = "1.0.0",
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version = "__version__",
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author = "Huan Weng, Mikhail Todes, Jarvis Schultz, Bill Hunt",
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author_email = "huanweng@u.northwestern.edu",
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description = ("Modern Robotics: Mechanics, Planning, and Control: Code Library"),
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@ -16,8 +16,7 @@ setup(
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"License :: OSI Approved :: BSD License",
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],
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install_requires=[
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'numpy',
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'scipy',
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'numpy'
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],
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platforms='Linux, Mac, Windows',
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)
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