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add animation gif

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AtsushiSakai
2017-05-21 11:28:22 -07:00
parent d8b41c2030
commit 7f6bab029f
2 changed files with 8 additions and 5 deletions
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scripts/PathPlanning/RRTCar/animation.gif Normal file
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Width:  |  Height:  |  Size: 13 MiB

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scripts/PathPlanning/RRTCar/rrt_car.py
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@@ -14,7 +14,7 @@ import math
import copy
import numpy as np
import dubins_path_planning
import matplotrecorder
# import matplotrecorder
class RRT():
@@ -57,7 +57,7 @@ class RRT():
if self.__CollisionCheck(newNode, obstacleList):
self.nodeList.append(newNode)
if animation:
if animation and i % 5 == 0:
self.DrawGraph(rnd=rnd)
# generate coruse
@@ -188,7 +188,7 @@ class RRT():
plt.axis([-2, 15, -2, 15])
plt.grid(True)
plt.pause(0.01)
matplotrecorder.save_frame() # save each frame
# matplotrecorder.save_frame() # save each frame
def GetNearestListIndex(self, nodeList, rnd):
dlist = [(node.x - rnd[0]) ** 2 +
@@ -245,7 +245,7 @@ if __name__ == '__main__':
goal = [10.0, 10.0, math.radians(0.0)]
rrt = RRT(start, goal, randArea=[-2.0, 15.0], obstacleList=obstacleList)
path = rrt.Planning(animation=True)
path = rrt.Planning(animation=False)
# Draw final path
rrt.DrawGraph()
@@ -254,4 +254,7 @@ if __name__ == '__main__':
plt.pause(0.001)
plt.show()
matplotrecorder.save_movie("animation.gif", 0.1)
# for i in range(10):
# matplotrecorder.save_frame() # save each frame
# matplotrecorder.save_movie("animation.gif", 0.1)