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fix limit

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Atsushi Sakai
2019-01-13 09:10:27 +09:00
parent 00ce4317a1
commit b4434e4737
1 changed files with 6 additions and 3 deletions
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9
ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation_2.py
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@@ -23,6 +23,7 @@ def press(event):
print('Quitting upon request.')
sys.exit(0)
def main():
# Arm geometry in the working space
link_length = [0.5, 1.5]
@@ -53,9 +54,11 @@ def animate(grid, arm, route):
arm.update_joints([theta1, theta2])
plt.subplot(1, 2, 2)
arm.plot(plt, obstacles=obstacles)
plt.xlim(-2.0, 2.0)
plt.ylim(-3.0, 3.0)
plt.show()
# Uncomment here to save the sequence of frames
#plt.savefig('frame{:04d}.png'.format(i))
# plt.savefig('frame{:04d}.png'.format(i))
plt.pause(0.1)
@@ -264,13 +267,13 @@ class NLinkArm(object):
for i in range(self.n_links + 1):
if i is not self.n_links:
myplt.plot([self.points[i][0], self.points[i + 1][0]],
[self.points[i][1], self.points[i + 1][1]], 'r-')
[self.points[i][1], self.points[i + 1][1]], 'r-')
myplt.plot(self.points[i][0], self.points[i][1], 'k.')
myplt.xlim([-self.lim, self.lim])
myplt.ylim([-self.lim, self.lim])
myplt.draw()
#myplt.pause(1e-5)
# myplt.pause(1e-5)
if __name__ == '__main__':