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Added wind scale factor for visualization

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spencerfolk
2024-01-10 10:31:20 -05:00
parent 045f47b8dd
commit e13f7037fa
3 changed files with 5 additions and 4 deletions
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2
rotorpy/learning/quadrotor_environments.py
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@@ -165,7 +165,7 @@ class QuadrotorEnv(gym.Env):
colors = list(mcolors.CSS4_COLORS)
else:
colors = [color]
self.quad_obj = Quadrotor(self.ax, wind=True, color=np.random.choice(colors))
self.quad_obj = Quadrotor(self.ax, wind=True, color=np.random.choice(colors), wind_scale_factor=5)
self.world_artists = None
self.title_artist = self.ax.set_title('t = {}'.format(self.t))

2
rotorpy/utils/animate.py
View File

@@ -97,7 +97,7 @@ def animate(time, position, rotation, wind, animate_wind, world, filename=None,
if not show_axes:
ax.set_axis_off()
quad = Quadrotor(ax, wind=animate_wind)
quad = Quadrotor(ax, wind=animate_wind, wind_scale_factor=1)
world_artists = world.draw(ax)

5
rotorpy/utils/shapes.py
View File

@@ -321,10 +321,11 @@ class Quadrotor():
def __init__(self, ax,
arm_length=0.125, rotor_radius=0.08, n_rotors=4,
shade=True, color=None, wind=True):
shade=True, color=None, wind=True, wind_scale_factor=5):
self.ax = ax
self.wind_bool = wind
self.wind_scale_factor = wind_scale_factor
# Apply same color to all rotor objects.
if color is None:
@@ -360,7 +361,7 @@ class Quadrotor():
r.transform(np.matmul(rotation,pos)+position, rotation)
if self.wind_bool:
self.wind_vector[0].remove()
self.wind_vector = [self.ax.quiver(position[0], position[1], position[2], wind[0], wind[1], wind[2], color='r', linewidth=1.5)]
self.wind_vector = [self.ax.quiver(position[0], position[1], position[2], wind[0]/self.wind_scale_factor, wind[1]/self.wind_scale_factor, wind[2]/self.wind_scale_factor, color='r', linewidth=1.5)]
if __name__ == '__main__':
import matplotlib.pyplot as plt