From 515a3853f1173726e8561c7bcd7c83a59230c468 Mon Sep 17 00:00:00 2001
From: Yangge Li <li213@illinois.edu>
Date: Mon, 20 Jun 2022 11:50:17 -0500
Subject: [PATCH] add function to plot point in 3d plotter
---
demo/ball_bounces.py | 28 ++++++++++++++--------------
dryvr_plus_plus/plotter/plotter3D.py | 19 ++++++++++++-------
2 files changed, 26 insertions(+), 21 deletions(-)
diff --git a/demo/ball_bounces.py b/demo/ball_bounces.py
index 6c81aebd..d952f629 100644
--- a/demo/ball_bounces.py
+++ b/demo/ball_bounces.py
@@ -4,15 +4,15 @@ from typing import List
# from dryvr_plus_plus.scene_verifier.map.lane import Lane
class BallMode(Enum):
- # Any model should have at least one mode
+ # TODO: Any model should have at least one mode
Normal = auto()
- # The one mode of this automation is called "Normal" and auto assigns it an integer value.
+ # TODO: The one mode of this automation is called "Normal" and auto assigns it an integer value.
# Ultimately for simple models we would like to write
# E.g., Mode = makeMode(Normal, bounce,...)
class LaneMode(Enum):
Lane0 = auto()
- # For now this is a dummy notion of Lane
+ # TODO: For now this is a dummy notion of Lane
class State:
'''Defines the state variables of the model
@@ -29,8 +29,8 @@ class State:
def controller(ego:State, others:State):
'''Computes the possible mode transitions'''
- output = copy.deepcopy(this)
- '''Ego and output variable names should be flexible but
+ output = copy.deepcopy(ego)
+ '''TODO: Ego and output variable names should be flexible but
currently these are somehow harcoded with the sensor'''
# Stores the prestate first
if ego.x<0:
@@ -40,7 +40,7 @@ def controller(ego:State, others:State):
output.vy = -ego.vy
output.y=0
if ego.x>20:
- # Q. If I change this to ego.x >= 20 then the model does not work.
+ # TODO: Q. If I change this to ego.x >= 20 then the model does not work.
# I suspect this is because the same transition can be take many, many times.
# We need to figure out a clean solution
output.vx = -ego.vx
@@ -48,10 +48,10 @@ def controller(ego:State, others:State):
if ego.y>20:
output.vy = -ego.vy
output.y=20
- ''' if ego.x - others[1].x < 1 and ego.y - others[1].y < 1:
+ ''' if ego.x - others[1].x < 1 and ego.y - others[1].y < 1:
output.vy = -ego.vy
output.vx = -ego.vx'''
- # We would like to be able to write something like this, but currently not allowed.
+ # TODO: We would like to be able to write something like this, but currently not allowed.
return output
@@ -64,7 +64,7 @@ from dryvr_plus_plus.plotter.plotter2D import *
import plotly.graph_objects as go
if __name__ == "__main__":
- ball_controller = '/Users/mitras/Dpp/GraphGeneration/demo/ball_bounces.py'
+ ball_controller = 'ball_bounces.py'
bouncingBall = Scenario()
myball1 = BallAgent('red-ball', file_name=ball_controller)
myball2 = BallAgent('green-ball', file_name=ball_controller)
@@ -73,10 +73,10 @@ if __name__ == "__main__":
#
tmp_map = SimpleMap3()
bouncingBall.set_map(tmp_map)
- # If there is no useful map, then we should not have to write this.
+ # TODO: If there is no useful map, then we should not have to write this.
# Default to some empty map
bouncingBall.set_sensor(FakeSensor4())
- # There should be a way to default to some well-defined sensor
+ # TODO: There should be a way to default to some well-defined sensor
# for any model, without having to write an explicit sensor
bouncingBall.set_init(
[
@@ -88,12 +88,12 @@ if __name__ == "__main__":
(BallMode.Normal, LaneMode.Lane0)
]
)
- # WE should be able to initialize each of the balls separately
+ # TODO: WE should be able to initialize each of the balls separately
# this may be the cause for the VisibleDeprecationWarning
- # Longer term: We should initialize by writing expressions like "-2 \leq myball1.x \leq 5"
+ # TODO: Longer term: We should initialize by writing expressions like "-2 \leq myball1.x \leq 5"
# "-2 \leq myball1.x + myball2.x \leq 5"
traces = bouncingBall.simulate(20)
- # There should be a print({traces}) function
+ # TODO: There should be a print({traces}) function
fig = go.Figure()
fig = plotly_simulation_anime(traces, tmp_map, fig)
fig.show()
diff --git a/dryvr_plus_plus/plotter/plotter3D.py b/dryvr_plus_plus/plotter/plotter3D.py
index 1ede38e0..68a3a96f 100644
--- a/dryvr_plus_plus/plotter/plotter3D.py
+++ b/dryvr_plus_plus/plotter/plotter3D.py
@@ -2,10 +2,7 @@
# Written by: Kristina Miller
import numpy as np
-import matplotlib.pyplot as plt
-import mpl_toolkits.mplot3d as a3
-from scipy.spatial import ConvexHull
import polytope as pc
import pyvista as pv
@@ -40,6 +37,7 @@ def plot_polytope_3d(A, b, ax = None, color = 'red', trans = 0.2, edge = True):
if edge:
edges = shell.extract_feature_edges(20)
ax.add_mesh(edges, color="k", line_width=1)
+ return ax
def plot_line_3d(start, end, ax = None, color = 'blue', line_width = 1):
if ax is None:
@@ -52,6 +50,13 @@ def plot_line_3d(start, end, ax = None, color = 'blue', line_width = 1):
line = pv.Line(a, b)
ax.add_mesh(line, color=color, line_width=line_width)
+ return ax
+
+def plot_point_3d(points, ax=None, color='blue', point_size = 100):
+ if ax is None:
+ ax = pv.Plotter()
+ ax.add_points(points, render_points_as_spheres=True, point_size = point_size, color = color)
+ return ax
if __name__ == '__main__':
A = np.array([[-1, 0, 0],
@@ -62,7 +67,7 @@ if __name__ == '__main__':
[0, 0, 1]])
b = np.array([[1], [1], [1], [1], [1], [1]])
b2 = np.array([[-1], [2], [-1], [2], [-1], [2]])
- ax1 = a3.Axes3D(plt.figure())
- plot_polytope_3d(A, b, ax = ax1, color = 'red')
- plot_polytope_3d(A, b2, ax = ax1, color = 'green')
- plt.show()
\ No newline at end of file
+ fig = pv.Plotter()
+ fig = plot_polytope_3d(A, b, ax = fig, color = 'red')
+ fig = plot_polytope_3d(A, b2, ax = fig, color = 'green')
+ fig.show()
\ No newline at end of file
--
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