update gif

scripts/PathPlanning/RRT/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/RRTStarCar/rrt_star_car.py

@@ -272,7 +272,7 @@ if __name__ == '__main__':
     print("Start rrt start planning")
     import matplotlib.pyplot as plt
     import matplotrecorder
-    matplotrecorder.donothing = True
+    matplotrecorder.donothing = False
 
     # ====Search Path with RRT====
     obstacleList = [
@@ -296,9 +296,10 @@ if __name__ == '__main__':
     plt.plot([x for (x, y) in path], [y for (x, y) in path], '-r')
     plt.grid(True)
     plt.pause(0.001)
-    plt.show()
 
     for i in range(10):
         matplotrecorder.save_frame()  # save each frame
 
+    plt.show()
+
     matplotrecorder.save_movie("animation.gif", 0.1)