robotics_toolbox.render.renderer_planar.RendererPlanar

class robotics_toolbox.render.renderer_planar.RendererPlanar(xlim=(-1, 1), ylim=(-1, 1), lim_scale=1.0)

Bases: object

Parameters:

  • xlim (tuple[float, float])

  • ylim (tuple[float, float])

  • lim_scale (float)

__init__(xlim=(-1, 1), ylim=(-1, 1), lim_scale=1.0)
Parameters:

  • xlim (tuple[float, float])

  • ylim (tuple[float, float])

  • lim_scale (float)

Return type:

None

Methods

__init__([xlim, ylim, lim_scale])

plot_line_between_points(a, b, *args, **kwargs)

Plot line between two given 2D points a and b.

plot_manipulator(robot, **kwargs)

plot_mobile_robot(robot)

Plot mobile robot into the figure.

plot_se2(t[, length])

Plot SE2 frame.

plot_so2(t[, length])

Plot SO2 frame in the origin.

redraw_all()

Redraw all the manipulators that has been plotted before.

wait_for_close()

wait_for_enter([msg])

plot_line_between_points(a, b, *args, **kwargs)

Plot line between two given 2D points a and b. Other arguments passed to ax.plot function.

Parameters:

  • a (_SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes])

  • b (_SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes])

plot_mobile_robot(robot)

Plot mobile robot into the figure. If this function is called multiple times for the same robot, this function redraw the robot to the new pose instead of drawing a new one.

Parameters:

robot (MobileRobot)

plot_se2(t, length=0.1, *args, **kwargs)

Plot SE2 frame.

Parameters:

t (SE2)

plot_so2(t, length=0.1, *args, **kwargs)

Plot SO2 frame in the origin.

Parameters:

t (SO2)

redraw_all()

Redraw all the manipulators that has been plotted before.