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split pose and orientation position plotters
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tools/localization_analysis/scripts/multivector3d_plotter.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,98 @@ | ||
| #!/usr/bin/python | ||
| # | ||
| # Copyright (c) 2017, United States Government, as represented by the | ||
| # Administrator of the National Aeronautics and Space Administration. | ||
| # | ||
| # All rights reserved. | ||
| # | ||
| # The Astrobee platform is licensed under the Apache License, Version 2.0 | ||
| # (the "License"); you may not use this file except in compliance with the | ||
| # License. You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, WITHOUT | ||
| # WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the | ||
| # License for the specific language governing permissions and limitations | ||
| # under the License. | ||
|
|
||
| import matplotlib | ||
| from vector3d_plotter import Vector3dPlotter | ||
| import plot_conversions | ||
| import pose | ||
| import vector3d_plotter | ||
|
|
||
| matplotlib.use("pdf") | ||
| import matplotlib.pyplot as plt | ||
| import numpy as np | ||
| import sys | ||
|
|
||
| # Plotter that allows plotting multiple vector3d values in the same plots. | ||
| # Pass vector3d values to plot using the add function. | ||
| # Optionally also plot individual plots for each vector component (x/y/z) if individual plots is true. | ||
| class MultiVector3dPlotter: | ||
| def __init__(self, xlabel, ylabel, title, individual_plots = False): | ||
| self.xlabel = xlabel | ||
| self.ylabel = ylabel | ||
| self.title = title | ||
| self.individual_plots = individual_plots | ||
| self.vector3d_plotters = [] | ||
|
|
||
| # Adds vector3d plotter to be plot | ||
| def add(self, vector3d_plotter): | ||
| self.vector3d_plotters.append(vector3d_plotter) | ||
|
|
||
| # Plot each of the vector3d values. Optionally plot individual axes on seperate plots | ||
| # if individual_plots set to True. | ||
| def plot(self, pdf, individual_plots=True): | ||
| plt.figure() | ||
| for vector3d_plotter in self.vector3d_plotters: | ||
| vector3d_plotter.plot_xyz() | ||
| plt.xlabel(self.xlabel) | ||
| plt.ylabel(self.ylabel) | ||
| plt.title(self.title) | ||
| plt.legend(prop={"size": 6}) | ||
| pdf.savefig() | ||
| plt.close() | ||
|
|
||
| if individual_plots: | ||
| self.plot_xs(pdf) | ||
| self.plot_ys(pdf) | ||
| self.plot_zs(pdf) | ||
|
|
||
| # Plot x values. | ||
| def plot_xs(self, pdf): | ||
| plt.figure() | ||
| for vector3d_plotter in self.vector3d_plotters: | ||
| vector3d_plotter.plot_x() | ||
| plt.xlabel(self.xlabel) | ||
| plt.ylabel(self.ylabel) | ||
| plt.title(self.title) | ||
| plt.legend(prop={"size": 6}) | ||
| pdf.savefig() | ||
| plt.close() | ||
|
|
||
| # Plot y values. | ||
| def plot_ys(self, pdf): | ||
| plt.figure() | ||
| for vector3d_plotter in self.vector3d_plotters: | ||
| vector3d_plotter.plot_y() | ||
| plt.xlabel(self.xlabel) | ||
| plt.ylabel(self.ylabel) | ||
| plt.title(self.title) | ||
| plt.legend(prop={"size": 6}) | ||
| pdf.savefig() | ||
| plt.close() | ||
|
|
||
| # Plot z values. | ||
| def plot_zs(self, pdf): | ||
| plt.figure() | ||
| for vector3d_plotter in self.vector3d_plotters: | ||
| vector3d_plotter.plot_z() | ||
| plt.xlabel(self.xlabel) | ||
| plt.ylabel(self.ylabel) | ||
| plt.title(self.title) | ||
| plt.legend(prop={"size": 6}) | ||
| pdf.savefig() | ||
| plt.close() |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,49 @@ | ||
| #!/usr/bin/python | ||
| # | ||
| # Copyright (c) 2017, United States Government, as represented by the | ||
| # Administrator of the National Aeronautics and Space Administration. | ||
| # | ||
| # All rights reserved. | ||
| # | ||
| # The Astrobee platform is licensed under the Apache License, Version 2.0 | ||
| # (the "License"); you may not use this file except in compliance with the | ||
| # License. You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, WITHOUT | ||
| # WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the | ||
| # License for the specific language governing permissions and limitations | ||
| # under the License. | ||
|
|
||
| from vector3d_plotter import Vector3dPlotter | ||
|
|
||
| # Class for plotting XYZ position values on the same and separate plots. | ||
| class PositionPlotter(Vector3dPlotter): | ||
| def __init__( | ||
| self, | ||
| name, | ||
| times, | ||
| x_vals, | ||
| y_vals, | ||
| z_vals, | ||
| colors=["r", "b", "g"], | ||
| linestyle="-", | ||
| linewidth=1, | ||
| marker=None, | ||
| markeredgewidth=None, | ||
| markersize=1, | ||
| ): | ||
| super(PositionPlotter, self).__init__(name, | ||
| times, | ||
| x_vals, | ||
| y_vals, | ||
| z_vals, | ||
| ["Position (X)", "Position (Y)", "Position (Z)"], | ||
| colors, | ||
| linestyle, | ||
| linewidth, | ||
| marker, | ||
| markeredgewidth, | ||
| markersize) |