multirotor.visualize

Module Contents

Classes

VehicleDrawing

A 3D representation of the vehicle.

Functions

plot_datalog([plots, nrows, ncols])

Plot recorded values from a Multirotor's flight. Including:

get_wind_quiver(heading, ax[, n, dim])

Create arrays of x,y,z coordinates for a quiver plot of wind.

make_drawing(...)

Create Atrist objects for vehicle arms, trajectory, body-frame axes. These will

update_drawing(...)

Update the Artist objects for the vehicle arms, trajectory, body-frame axes given

make_fig(→ Tuple[matplotlib.pyplot.Figure, ...)

Convenience function for creating a 3D axis.

is_terminal(→ bool)

Check whether code is running in a text console or jupyter notebook.
multirotor.visualize.plot_datalog(log: multirotor.helpers.DataLog, figsize=(21, 10.5), plots=('pos', 'vel', 'ctrl', 'traj'), nrows=2, ncols=None) → Dict[str, matplotlib.pyplot.Axes]

Plot recorded values from a Multirotor’s flight. Including:

  1. Position and orientation,

  2. Motor speeds,

  3. Velocity in world frame,

  4. Control allocation,

  5. Allocation errors,

  6. 2D x-y position plot

Parameters

logDataLog

The datalog, where datalog.done_logging() has been called.

figsizetuple, optional

The x/y dimensions of the figure, by default (21,10.5)

Returns

DictDict[str, plt.Axes]

A dictionary of plot names mapping to Axes

multirotor.visualize.get_wind_quiver(heading: str, ax: matplotlib.pyplot.Axes, n=5, dim=2)

Create arrays of x,y,z coordinates for a quiver plot of wind.

Parameters

headingstr

The heading of the wind, e.g. ‘5@45’ for 5N wind from 45 degrees.

axplt.Axes

The axes on which to plot the quiver.

nint, optional

Size of arrays, by default 5

dimint, optional

Dimension of quiver (2 or 3), by default 2

Returns

Tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]

x,y,[z],dx,dy,[dz] coordinates for quiver plot.

class multirotor.visualize.VehicleDrawing(vehicle: multirotor.simulation.Multirotor, axis: mpl_toolkits.mplot3d.Axes3D = None, trace: bool = False, body_axes: bool = False, make_fig_kwargs: dict = dict(xlim=(-10, 10), ylim=(-10, 10), zlim=(-10, 10)))

A 3D representation of the vehicle.

update() → float

Draw vehicle position and orientation on the figure.

Returns

float

The time (seconds) taken to finish this operation.

reset()

Clear vehicle’s trajectory, and place vehicle at its current position.

_init_func() → Tuple[mpl_toolkits.mplot3d.art3d.Line3D]

Add vehicle and trajectory lines to plot by initializing the Artist objects in self.axis.

Returns

Tuple[Line3d]

multirotor.visualize.make_drawing(params: multirotor.vehicle.VehicleParams, body_axes: bool = False, make_2d: bool = False, scale_arms=1.0) → Tuple[List[matplotlib.lines.Line2D | mpl_toolkits.mplot3d.art3d.Line3D], numpy.ndarray, matplotlib.lines.Line2D | mpl_toolkits.mplot3d.art3d.Line3D, List[matplotlib.lines.Line2D | mpl_toolkits.mplot3d.art3d.Line3D], numpy.ndarray]

Create Atrist objects for vehicle arms, trajectory, body-frame axes. These will then be added to the Figure.

Parameters

paramsVehicleParams

The description of the vehicle.

body_axesbool, optional

Whether to draw body-frame x/y/z axes, by default False

make_2dbool, optional

Whether to return 2D lines (if using these for some 2D plot), by default False

scale_arms_type_, optional

Factor by which to scale arm lengths. Useful when a small vehicle must be made visible in a plot with large bounds, by default 1.

Returns

Tuple

  • List of lines for vehicle propeller arms,

  • Array of (2*propellers) x [2|3] containing end-points of arm lines in [2|3] dimensions

  • The line object of the vehicle trajectory

  • List of lines for body-frame axes

  • Array of (2*3) x 3 containing end-points of body-frame axis lines in [2|3] dimensions.

multirotor.visualize.update_drawing(drawing: VehicleDrawing, position: numpy.ndarray, orientation: numpy.ndarray) → Tuple[List[matplotlib.lines.Line2D | mpl_toolkits.mplot3d.art3d.Line3D], matplotlib.lines.Line2D | mpl_toolkits.mplot3d.art3d.Line3D, List[matplotlib.lines.Line2D | mpl_toolkits.mplot3d.art3d.Line3D]]

Update the Artist objects for the vehicle arms, trajectory, body-frame axes given position and orientation.

Parameters

drawingVehicleDrawing

The drawing to update.

positionnp.ndarray

The 3D position of the vehicle,

orientationnp.ndarray

The orientation (radians) of the vehicle

Returns

Tuple

  • List of lines for vehicle propeller arms,

  • The line object of the vehicle trajectory

  • List of lines for body-frame axes

multirotor.visualize.make_fig(xlim: Tuple[float, float], ylim: Tuple[float, float], zlim: Tuple[float, float], **fig_kwargs) → Tuple[matplotlib.pyplot.Figure, mpl_toolkits.mplot3d.Axes3D]

Convenience function for creating a 3D axis.

Parameters

xlim/ylim/zlimTuple[float, float]

Min/max coordinates in plot

Returns

Tuple[plt.Figure, Axes3D]

The figure and Axes3D instance

multirotor.visualize.is_terminal() → bool

Check whether code is running in a text console or jupyter notebook.

Returns

bool

True if running in terminal.