got 30fps without tkinter. if i do the same in tkinter, then the past drawings...

got 30fps without tkinter. if i do the same in tkinter, then the past drawings are not removed, and the thing is slow still. ideally there is a really simple fix for this, but it remains to be found

python/initial_python_solution/blit_test.py

 import matplotlib.pyplot as plt
 import numpy as np
+import time
 
 x = np.linspace(0, 2 * np.pi, 100)
 
@@ -30,7 +31,8 @@ ax.draw_artist(ln)
 # renderer to the GUI framework so you can see it
 fig.canvas.blit(fig.bbox)
 
-for j in range(100):
+for j in range(1000):
+    start = time.time()
     # reset the background back in the canvas state, screen unchanged
     fig.canvas.restore_region(bg)
     # update the artist, neither the canvas state nor the screen have changed
@@ -41,5 +43,8 @@ for j in range(100):
     fig.canvas.blit(fig.bbox)
     # flush any pending GUI events, re-painting the screen if needed
     fig.canvas.flush_events()
+    end = time.time()
+    print("time on rendering", end - start)
+    print("fps: ", 1/ (end - start))
     # you can put a pause in if you want to slow things down
     # plt.pause(.1)

python/initial_python_solution/dark_background_example.py

+import matplotlib.pyplot as plt
+import numpy as np
+
+plt.style.use('dark_background')
+
+fig, ax = plt.subplots()
+
+L = 6
+x = np.linspace(0, L)
+ncolors = len(plt.rcParams['axes.prop_cycle'])
+shift = np.linspace(0, L, ncolors, endpoint=False)
+for s in shift:
+    ax.plot(x, np.sin(x + s), 'o-')
+ax.set_xlabel('x-axis')
+ax.set_ylabel('y-axis')
+ax.set_title("'dark_background' style sheet")
+
+plt.show()

python/initial_python_solution/manipulator_visual_motion_analyzer.py

@@ -405,10 +405,10 @@ def update_points(new_val):
         ik_env.p_e_point_plots[robot_index].set_data([ik_env.data[robot_index]['p_es'][index][0]], [ik_env.data[robot_index]['p_es'][index][1]])
         ik_env.p_e_point_plots[robot_index].set_3d_properties([ik_env.data[robot_index]['p_es'][index][2]])
     canvas_ee.draw()
-    #canvas_manipulator.draw()
+    canvas_manipulator.draw()
     # NEW
     # might need to manually update all artists here from ax_something
-    canvas_manipulator.blit(fig_manipulator.bbox)
+    #canvas_manipulator.blit(fig_manipulator.bbox)
     canvas_manip_graphs.draw()
     canvas_imu.draw()
     # TODO update may not be needed as we're going by slider here

python/initial_python_solution/robot_stuff/InverseKinematics.py

@@ -6,6 +6,7 @@ from robot_stuff.utils import *
 
 # general imports
 import numpy as np
+import matplotlib.pyplot as plt
 
 # ######################################### NOTE #########################
 # i'm half-adding another robot for the purposes of the plot.
@@ -144,7 +145,7 @@ class InverseKinematicsEnv:
             self.drawingInited = False
 
         if self.drawingInited == False:
-            plt.ion()
+            #plt.ion()
             self.fig = plt.figure()
             #self.ax = self.fig.add_subplot(111, projection='3d')
             self.ax = self.fig.add_subplot(111, projection='3d')
@@ -156,13 +157,30 @@ class InverseKinematicsEnv:
             color_link = 'black'
             self.robot.initDrawing(self.ax, color_link)
             self.drawingInited = True
+            plt.pause(0.1)
+            # put this here for good measure
             self.robot.drawStateAnim()
+            self.bg = self.fig.canvas.copy_from_bbox(self.fig.bbox)
+        # manual blitting basically
+        # restore region
+        self.fig.canvas.restore_region(self.bg)
+        # updating all the artists (set new properties (position bla))
+        self.robot.drawStateAnim()
+        # now you need to manually draw all the artist (otherwise you update everything)
+        # thank god that's just lines, all in a list.
+        # btw, that should definitely be a dictionary, not a list,
+        # this makes the code fully unreadable (although correct).
+        for link in self.robot.lines:
+            for line in link:
+                self.ax.draw_artist(line)
+        self.fig.canvas.blit(self.fig.bbox)
+        # NOTE: this might not work
         self.ax.set_title(str(self.n_of_tries_for_point) + 'th iteration toward goal')
         drawPoint(self.ax, self.goal, 'red', 'o')
         # if no draw it is kinda faster
         #self.fig.canvas.draw()
         # this is even faster
-        self.fig.canvas.update()
+        #self.fig.canvas.update()
         self.fig.canvas.flush_events()
 
 

python/initial_python_solution/robot_stuff/forw_kinm.py

@@ -133,10 +133,10 @@ class Robot_raw:
             z_hat = self.joints[j].HomMat[0:3,2]
             p = self.joints[j].HomMat[0:3,3]
 
-            line_x, = self.ax.plot(np.array([]),np.array([]),np.array([]), 'r') 
-            line_y, = self.ax.plot(np.array([]),np.array([]),np.array([]), 'g')
-            line_z, = self.ax.plot(np.array([]),np.array([]),np.array([]), 'b')
-            line_p, = self.ax.plot(np.array([]),np.array([]),np.array([]), self.color_link)
+            line_x, = self.ax.plot(np.array([]),np.array([]),np.array([]), 'r')#, animated=True) 
+            line_y, = self.ax.plot(np.array([]),np.array([]),np.array([]), 'g')#, animated=True)
+            line_z, = self.ax.plot(np.array([]),np.array([]),np.array([]), 'b')#, animated=True)
+            line_p, = self.ax.plot(np.array([]),np.array([]),np.array([]), self.color_link)#, animated=True)
 
             self.lines += [[line_x, line_y, line_z, line_p]]
             avg_link_lenth += self.joints[j].d + self.joints[j].r