spatialmath-python/tests/base/test_transforms3d_plot.py at 8b322696800a5d9888f33879c07ff0cabe37e1ec · petercorke/spatialmath-python · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Fri Apr 10 14:19:04 2020

@author: corkep

"""


import numpy as np
import numpy.testing as nt
import unittest
from math import pi
import math
from scipy.linalg import logm, expm
import os
import pytest
import sys

from spatialmath.base.transforms3d import *
from spatialmath.base.transformsNd import isR, t2r, r2t, rt2tr

import matplotlib.pyplot as plt


class Test3D(unittest.TestCase):
    @pytest.mark.skipif(
        os.environ.get("CI") == "true"
        or (sys.platform.startswith("darwin") and sys.version_info < (3, 11)),
        reason="no display in CI / tkinter bug on mac",
    )
    def test_plot(self):
        plt.figure()
        # test options
        trplot(
            transl(1, 2, 3),
            block=False,
            frame="A",
            style="line",
            width=1,
            dims=[0, 10, 0, 10, 0, 10],
        )
        trplot(
            transl(1, 2, 3),
            block=False,
            frame="A",
            style="arrow",
            width=1,
            dims=[0, 10, 0, 10, 0, 10],
        )
        trplot(
            transl(1, 2, 3),
            block=False,
            frame="A",
            style="rgb",
            width=1,
            dims=[0, 10, 0, 10, 0, 10],
        )
        trplot(transl(3, 1, 2), block=False, color="red", width=3, frame="B")
        trplot(
            transl(4, 3, 1) @ trotx(math.pi / 3),
            block=False,
            color="green",
            frame="c",
            dims=[0, 4, 0, 4, 0, 4],
        )

        # test for iterable
        plt.clf()
        T = [transl(1, 2, 3), transl(2, 3, 4), transl(3, 4, 5)]
        trplot(T)

        plt.close("all")

    @pytest.mark.skipif(
        os.environ.get("CI") == "true"
        or (sys.platform.startswith("darwin") and sys.version_info < (3, 11)),
        reason="no display in CI / tkinter bug on mac",
    )
    def test_animate(self):
        tranimate(transl(1, 2, 3), repeat=False, wait=True)

        tranimate(transl(1, 2, 3), repeat=False, wait=True)
        # run again, with axes already created
        tranimate(transl(1, 2, 3), repeat=False, wait=True, dims=[0, 10, 0, 10, 0, 10])

        plt.close("all")
        # test animate with line not arrow, text, test with SO(3)


# ---------------------------------------------------------------------------------------#
if __name__ == "__main__":
    unittest.main()