add gif

scripts/PathPlanning/RRT/simple_rrt.py

@@ -13,6 +13,8 @@ u"""
 import random
 import math
 import copy
+import matplotrecorder
+matplotrecorder.donothing = True
 
 
 class RRT():
@@ -115,6 +117,7 @@ class RRT():
         plt.axis([-2, 15, -2, 15])
         plt.grid(True)
         plt.pause(0.01)
+        matplotrecorder.save_frame()  # save each frame
 
     def GetNearestListIndex(self, nodeList, rnd):
         dlist = [(node.x - rnd[0]) ** 2 + (node.y - rnd[1])
@@ -166,4 +169,8 @@ if __name__ == '__main__':
     plt.plot([x for (x, y) in path], [y for (x, y) in path], '-r')
     plt.grid(True)
     plt.pause(0.01)  # Need for Mac
-    plt.show()
+    #  plt.show()
+    for i in range(10):
+        matplotrecorder.save_frame()  # save each frame
+
+    matplotrecorder.save_movie("animation.gif", 0.1)

scripts/PathPlanning/RRTCar/matplotrecorder.py

@@ -10,27 +10,30 @@ import matplotlib.pyplot as plt
 import subprocess
 
 iframe = 0
+donothing = False
 
 
 def save_frame():
     """
     Save a frame for movie
     """
-    global iframe
 
-    plt.savefig("recoder" + '{0:04d}'.format(iframe) + '.png')
-    iframe += 1
+    if not donothing:
+        global iframe
+        plt.savefig("recoder" + '{0:04d}'.format(iframe) + '.png')
+        iframe += 1
 
 
 def save_movie(fname, d_pause):
     """
     Save movie as gif
     """
-    cmd = "convert -delay " + str(int(d_pause * 100)) + \
-        " recoder*.png " + fname
-    subprocess.call(cmd, shell=True)
-    cmd = "rm recoder*.png"
-    subprocess.call(cmd, shell=True)
+    if not donothing:
+        cmd = "convert -delay " + str(int(d_pause * 100)) + \
+            " recoder*.png " + fname
+        subprocess.call(cmd, shell=True)
+        cmd = "rm recoder*.png"
+        subprocess.call(cmd, shell=True)
 
 
 if __name__ == '__main__':

scripts/PathPlanning/RRTstar/matplotrecorder.py

@@ -0,0 +1,59 @@
+"""
+ A simple Python module for recording matplotlib animation
+
+ This tool use convert command of ImageMagick
+
+ author: Atsushi Sakai
+"""
+
+import matplotlib.pyplot as plt
+import subprocess
+
+iframe = 0
+donothing = False
+
+
+def save_frame():
+    """
+    Save a frame for movie
+    """
+
+    if not donothing:
+        global iframe
+        plt.savefig("recoder" + '{0:04d}'.format(iframe) + '.png')
+        iframe += 1
+
+
+def save_movie(fname, d_pause):
+    """
+    Save movie as gif
+    """
+    if not donothing:
+        cmd = "convert -delay " + str(int(d_pause * 100)) + \
+            " recoder*.png " + fname
+        subprocess.call(cmd, shell=True)
+        cmd = "rm recoder*.png"
+        subprocess.call(cmd, shell=True)
+
+
+if __name__ == '__main__':
+    print("A sample recording start")
+    import math
+
+    time = range(50)
+
+    x1 = [math.cos(t / 10.0) for t in time]
+    y1 = [math.sin(t / 10.0) for t in time]
+    x2 = [math.cos(t / 10.0) + 2 for t in time]
+    y2 = [math.sin(t / 10.0) + 2 for t in time]
+
+    for ix1, iy1, ix2, iy2 in zip(x1, y1, x2, y2):
+        plt.plot(ix1, iy1, "xr")
+        plt.plot(ix2, iy2, "xb")
+        plt.axis("equal")
+        plt.pause(0.1)
+
+        save_frame()  # save each frame
+
+    save_movie("animation.gif", 0.1)
+    #  save_movie("animation.mp4", 0.1)

scripts/PathPlanning/RRTstar/rrt_star.py

@@ -13,6 +13,8 @@ import random
 import math
 import copy
 import numpy as np
+import matplotrecorder
+matplotrecorder.donothing = False
 
 
 class RRT():
@@ -21,7 +23,7 @@ class RRT():
     """
 
     def __init__(self, start, goal, obstacleList, randArea,
-                 expandDis=0.5, goalSampleRate=20, maxIter=5000):
+                 expandDis=0.5, goalSampleRate=20, maxIter=1000):
         u"""
         Setting Parameter
 
@@ -45,7 +47,6 @@ class RRT():
 
         animation: flag for animation on or off
         """
-        animation = False
 
         self.nodeList = [self.start]
         for i in range(self.maxIter):
@@ -204,6 +205,7 @@ class RRT():
         plt.axis([-2, 15, -2, 15])
         plt.grid(True)
         plt.pause(0.01)
+        matplotrecorder.save_frame()  # save each frame
 
     def GetNearestListIndex(self, nodeList, rnd):
         dlist = [(node.x - rnd[0]) ** 2 + (node.y - rnd[1])
@@ -258,4 +260,9 @@ if __name__ == '__main__':
     plt.plot([x for (x, y) in path], [y for (x, y) in path], '-r')
     plt.grid(True)
     plt.pause(0.01)  # Need for Mac
+    for i in range(10):
+        matplotrecorder.save_frame()  # save each frame
+
     plt.show()
+
+    matplotrecorder.save_movie("animation.gif", 0.1)