Distance website figures

animate_distances.py

import numpy as np
import matplotlib
matplotlib.use('TKAgg')
from matplotlib import pyplot as plt
from matplotlib import animation

from .data import WALLS, TRAJECTORIES


# First set up the figure, the axis, and the plot element we want to animate
figure = plt.figure(figsize=(18, 6))
axis = plt.axes(xlim=(-4.2, 4.2), ylim=(-4.2, 4.2))
axis.set_aspect('equal', 'box')

trajectory_lines = [
    axis.plot([], [], lw=2, marker='o', markersize=5)[0]
    for trajectory in TRAJECTORIES
]

# line = axis.plot([], [], lw=2)[0]

wall_lines = [
    axis.plot(*zip(*wall), lw=8, color='black')[0]
    for wall in WALLS
]


# initialization function: plot the background of each frame
def initialize_animation():
    return (*trajectory_lines, *wall_lines)


# animation function.  This is called sequentially
def animate(i):
    step_budget = i

    for j, (trajectory, trajectory_line) in enumerate(zip(
            TRAJECTORIES, trajectory_lines)):
        visible_data = trajectory[:min(step_budget, len(trajectory))]
        x, y = (zip(*visible_data)
                if visible_data
                else ((), ()))
        trajectory_line.set_data(x, y)
        step_budget -= len(visible_data)

    return (*trajectory_lines, *wall_lines)

# call the animator.  blit=True means only re-draw the parts that have changed.
anim = animation.FuncAnimation(
    figure,
    animate,
    init_func=initialize_animation,
    frames=sum(map(len, TRAJECTORIES)) + 6,
    interval=1000,
    blit=False)

plt.axis('off')
figure.tight_layout()
# anim.save('basic_animation.mp4', fps=30, extra_args=['-vcodec', 'libx264'])
anim.save('animation.gif', fps=10, writer='imagemagick')

# plt.show()

choose_goal.py

import numpy as np
import matplotlib
matplotlib.use('TKAgg')
from matplotlib import pyplot as plt
from matplotlib import animation

from .data import WALLS, TRAJECTORIES


# First set up the figure, the axis, and the plot element we want to animate
# figure = plt.figure()
figure, axes = plt.subplots(1, 2)
for axis in axes:
    axis.set_aspect('equal', 'box')
    axis.set_axis_off()
    axis.set_xlim((-4.2, 4.2))
    axis.set_ylim((-4.2, 4.2))

trajectory_lines = [
    axes[0].plot(*zip(*trajectory), lw=2, marker='o', markersize=5)[0]
    for trajectory in TRAJECTORIES
]

# line = axis.plot([], [], lw=2)[0]

wall_lines = [
    axis.plot(*zip(*wall), lw=8, color='black')[0]
    for axis in axes
    for wall in WALLS
]

axes[1].plot(*TRAJECTORIES[0][-1], marker='*', markersize=25)

figure.tight_layout()
# anim.save('basic_animation.mp4', fps=30, extra_args=['-vcodec', 'libx264'])
# anim.save('animation.gif', fps=10, writer='imagemagick')

plt.savefig('choose_goal.pdf')

data.py

WALLS = (
    ((-4, 4), (-4, -4)),
    ((-4, -4), (4, -4)),
    ((4, -4), (4, 4)),
    ((4, 4), (-2, 4)),

    ((0, 4), (0, 0)),

    ((-4, 2), (-2, 2)),
    ((-2, 2), (-2, -2)),
    ((-2, -2), (2, -2)),
    ((2, -2), (2, 2)),
)


TRAJECTORIES = (
    (
        (3.0, -3.0),
        (3.0, -2.1),
        (2.8, -1.4),
        (3.1, -0.5),
        (2.45, 0.3),
        (2.3, 0.98),
        (2.65, 1.8),
        (2.6, 2.1),
        (2.2, 2.4),
        (1.9, 2.44),
        (1.4, 1.7),
        (1.34, 1.4),
        (1.54, 1.2),
        (1.6, 0.9),
        (1.55, 0.3)
    ),
    (
        (3, -3),
        (1.9, -2.9),
        (1.3, -3.0),
        (0.6, -3.0),
        (-0.7, -3.0),
        (-1.4, -3.2),
        (-2.3, -3.1),
        (-3.3, -2.9),
        (-3.9, -1.4),
        (-3.7, -0.4),
        (-3.3, -0.2),
        (-3, -0.5),
        (-2.85, -1),
        (-2.8, -1.55),
        (-2.5, -1.89)
    ),
)