diff --git a/python/initial_python_solution/.blit_test.py.swp b/python/initial_python_solution/.blit_test.py.swp
deleted file mode 100644
index 5c52e18edb5224f1c6bd60b1766faf468b66fb90..0000000000000000000000000000000000000000
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diff --git a/python/initial_python_solution/.manipulator_visual_motion_analyzer.py.swp b/python/initial_python_solution/.manipulator_visual_motion_analyzer.py.swp
deleted file mode 100644
index 6dfe2a96bb05e401c7327f20ce338af45f733479..0000000000000000000000000000000000000000
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diff --git a/python/initial_python_solution/example_code/blit_in_tk.py b/python/initial_python_solution/example_code/blit_in_tk.py
new file mode 100644
index 0000000000000000000000000000000000000000..db7b3ddaf94da837a0f4b43940f888ca8cd80d38
--- /dev/null
+++ b/python/initial_python_solution/example_code/blit_in_tk.py
@@ -0,0 +1,95 @@
+import tkinter as Tk
+import numpy as np
+import matplotlib.pyplot as plt
+from datetime import datetime
+import time
+
+from matplotlib.figure import Figure
+from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
+
+# from Backend import Backend #self written data acquisition handler
+import random
+
+#global variables
+t0 = datetime.now() #start time of program
+
+#Returns time difference in seconds
+def time_difference(t1, t2):
+ delta = t2-t1
+ delta = delta.total_seconds()
+ return delta
+
+# Define Class for Flow data display
+class FlowFig():
+ def __init__(self, master): #master:Parent frame for plot
+ #Initialize plot data
+ self.t = []
+ self.Flow = []
+
+ #Initialize plot for FlowFig
+ self.fig = plt.figure(figsize=(4,4))
+ self.ax = self.fig.add_subplot(111)
+ self.ax.set_title("Flow Control Monitor")
+ self.ax.set_xlabel("Time")
+ self.ax.set_ylabel("Flow")
+ self.ax.axis([0,100,0,5])
+ self.line = self.ax.plot(self.t, self.Flow, '-')
+
+ #Set up canvas
+ self.canvas = FigureCanvasTkAgg(self.fig, master = master)
+ self.canvas.draw()
+ self.ax.add_line(self.line[0])
+ self.background = self.canvas.copy_from_bbox(self.ax.bbox)
+ self.ax.grid(True)
+
+ # # Initialize handler for data aqcuisition
+ # self.Data= Backend()
+ # self.Data.initialize()
+
+ #update figure
+ def update(self):
+ start = time.time()
+ # get new data values
+ self.t.append(time_difference(t0, datetime.now()))
+ Flow = random.uniform(1, 5)
+ self.Flow.append(Flow)
+
+ # shorten data vector if too long
+ if len(self.t) > 200:
+ del self.t[0]
+ del self.Flow[0]
+
+ #adjust xlims, add new data to plot
+ self.ax.set_xlim([np.min(self.t), np.max(self.t)])
+ self.line[0].set_data(self.t, self.Flow)
+
+ #blit new data into old frame
+ self.canvas.restore_region(self.background)
+ self.ax.draw_artist(self.line[0])
+ self.canvas.blit(self.ax.bbox)
+ self.canvas.flush_events()
+ root.after(1,self.update)
+ end = time.time()
+ print("time on rendering", end - start)
+ print("fps: ", 1/ (end - start))
+
+#Flow Frame of GUI
+class FlowPage(Tk.Frame):
+ def __init__(self, parent, controller):
+ Tk.Frame.__init__(self,parent)
+ self.parent = parent
+ self.FlowPlot = FlowFig(self)
+ self.FlowPlot.canvas.get_tk_widget().grid(row=0, column=0, rowspan=9, columnspan=9)
+
+# Mainloop
+root= Tk.Tk()
+root.rowconfigure(0, weight=1)
+root.columnconfigure(0, weight=1)
+
+Flowmonitor = FlowPage(root, root)
+Flowmonitor.grid(row =0, column=0, rowspan =10, columnspan=10)
+Flowmonitor.rowconfigure(0, weight=1)
+Flowmonitor.columnconfigure(0, weight=1)
+
+root.after(25, Flowmonitor.FlowPlot.update)
+root.mainloop()
diff --git a/python/initial_python_solution/blit_test.py b/python/initial_python_solution/example_code/blit_test.py
similarity index 100%
rename from python/initial_python_solution/blit_test.py
rename to python/initial_python_solution/example_code/blit_test.py
diff --git a/python/initial_python_solution/dark_background_example.py b/python/initial_python_solution/example_code/dark_background_example.py
similarity index 100%
rename from python/initial_python_solution/dark_background_example.py
rename to python/initial_python_solution/example_code/dark_background_example.py
diff --git a/python/initial_python_solution/ellipse.py b/python/initial_python_solution/example_code/ellipse.py
similarity index 100%
rename from python/initial_python_solution/ellipse.py
rename to python/initial_python_solution/example_code/ellipse.py
diff --git a/python/initial_python_solution/embedding_in_tk_sgskip.py b/python/initial_python_solution/example_code/embedding_in_tk_sgskip.py
similarity index 100%
rename from python/initial_python_solution/embedding_in_tk_sgskip.py
rename to python/initial_python_solution/example_code/embedding_in_tk_sgskip.py
diff --git a/python/initial_python_solution/example_code/manager_anim.py b/python/initial_python_solution/example_code/manager_anim.py
new file mode 100644
index 0000000000000000000000000000000000000000..edd9a920de1365d7f86cf052008d5264770bd887
--- /dev/null
+++ b/python/initial_python_solution/example_code/manager_anim.py
@@ -0,0 +1,108 @@
+import matplotlib.pyplot as plt
+import numpy as np
+import time
+
+class BlitManager:
+ def __init__(self, canvas, animated_artists=()):
+ """
+ Parameters
+ ----------
+ canvas : FigureCanvasAgg
+ The canvas to work with, this only works for subclasses of the Agg
+ canvas which have the `~FigureCanvasAgg.copy_from_bbox` and
+ `~FigureCanvasAgg.restore_region` methods.
+
+ animated_artists : Iterable[Artist]
+ List of the artists to manage
+ """
+ self.canvas = canvas
+ self._bg = None
+ self._artists = []
+
+ for a in animated_artists:
+ self.add_artist(a)
+ # grab the background on every draw
+ self.cid = canvas.mpl_connect("draw_event", self.on_draw)
+
+ def on_draw(self, event):
+ """Callback to register with 'draw_event'."""
+ cv = self.canvas
+ if event is not None:
+ if event.canvas != cv:
+ raise RuntimeError
+ self._bg = cv.copy_from_bbox(cv.figure.bbox)
+ self._draw_animated()
+
+ def add_artist(self, art):
+ """
+ Add an artist to be managed.
+
+ Parameters
+ ----------
+ art : Artist
+
+ The artist to be added. Will be set to 'animated' (just
+ to be safe). *art* must be in the figure associated with
+ the canvas this class is managing.
+
+ """
+ if art.figure != self.canvas.figure:
+ raise RuntimeError
+ art.set_animated(True)
+ self._artists.append(art)
+
+ def _draw_animated(self):
+ """Draw all of the animated artists."""
+ fig = self.canvas.figure
+ for a in self._artists:
+ fig.draw_artist(a)
+
+ def update(self):
+ """Update the screen with animated artists."""
+ cv = self.canvas
+ fig = cv.figure
+ # paranoia in case we missed the draw event,
+ if self._bg is None:
+ self.on_draw(None)
+ else:
+ # restore the background
+ cv.restore_region(self._bg)
+ # draw all of the animated artists
+ self._draw_animated()
+ # update the GUI state
+ cv.blit(fig.bbox)
+ # let the GUI event loop process anything it has to do
+ cv.flush_events()
+
+# make a new figure
+fig, ax = plt.subplots()
+x = np.linspace(0, 2 * np.pi, 100)
+# add a line
+(ln,) = ax.plot(x, np.sin(x), animated=True)
+# add a frame number
+fr_number = ax.annotate(
+ "0",
+ (0, 1),
+ xycoords="axes fraction",
+ xytext=(10, -10),
+ textcoords="offset points",
+ ha="left",
+ va="top",
+ animated=True,
+)
+bm = BlitManager(fig.canvas, [ln, fr_number])
+# make sure our window is on the screen and drawn
+plt.show(block=False)
+plt.pause(.1)
+
+for j in range(100):
+ start = time.time()
+ # update the artists
+ ln.set_ydata(np.sin(x + (j / 100) * np.pi))
+ fr_number.set_text(f"frame: {j}")
+ # tell the blitting manager to do its thing
+ bm.update()
+
+ end = time.time()
+ print("time on rendering", end - start)
+ print("fps: ", 1/ (end - start))
diff --git a/python/initial_python_solution/run_classic_ik_algs.py b/python/initial_python_solution/example_code/run_classic_ik_algs.py
similarity index 100%
rename from python/initial_python_solution/run_classic_ik_algs.py
rename to python/initial_python_solution/example_code/run_classic_ik_algs.py
diff --git a/python/initial_python_solution/manipulator_visual_motion_analyzer.py b/python/initial_python_solution/manipulator_visual_motion_analyzer.py
index 23a428da562b03b6b72f0ae07e0145bf91670251..690020863bf13c694cd6623dfc58c285701eb561 100644
--- a/python/initial_python_solution/manipulator_visual_motion_analyzer.py
+++ b/python/initial_python_solution/manipulator_visual_motion_analyzer.py
@@ -145,6 +145,7 @@ for robot_index, robot in enumerate(ik_env.robots):
trajectory_plots.append(trajectory_plot)
# goal point
ik_env.goal_point_plot = drawPoint(ik_env.ax, ik_env.goal, 'maroon', '*')
+#background_manipulator = fig_manipulator.canvas.copy_from_bbox(fig_manipulator.bbox)
# let's add the manipulability ellipse
@@ -293,8 +294,13 @@ notebook_right.grid(row=0, column=1, sticky='ew')
# tkinterize these plots
canvas_manipulator = FigureCanvasTkAgg(fig_manipulator, master=frame_manipulator)
+canvas_manipulator.draw()
# NEW
+# TODO maybe you want another background idk
+# worked elsewhere with figure.bbox
background_manipulator = canvas_manipulator.copy_from_bbox(fig_manipulator.bbox)
+#background_manipulator = canvas_manipulator.copy_from_bbox(canvas_manipulator.bbox)
+
canvas_manipulator_widget = canvas_manipulator.get_tk_widget()
canvas_manipulator_widget.grid(row=0, column=0)
canvas_manipulator._tkcanvas.grid(row=1, column=0)
@@ -349,6 +355,7 @@ def update_points(new_val):
# ee plot
###########################################################################
start = ttime.time()
+ #fig_manipulator.canvas.restore_region(background_manipulator)
canvas_manipulator.restore_region(background_manipulator)
index = int(np.floor(float(new_val)))
@@ -370,6 +377,11 @@ def update_points(new_val):
for robot_index, robot in enumerate(ik_env.robots):
ik_env.robots[robot_index].setJoints(ik_env.data[robot_index]["qs"][index])
ik_env.robots[robot_index].drawStateAnim()
+
+ # NEW AND BROKEN
+ for link in robot.lines:
+ for line in link:
+ ik_env.ax.draw_artist(line)
# all these are in lists as that's what the line plot wants,
# despite the fact that we have single points
point_in_time_eigen1_line.set_xdata([time[index]])
@@ -405,8 +417,12 @@ 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()
- # NEW
+ # NEW AND BROKEN
+# fig_manipulator.canvas.blit(fig_manipulator.bbox)
+# fig_manipulator.canvas.flush_events()
+ canvas_manipulator.blit(fig_manipulator.bbox)
+ canvas_manipulator.flush_events()
+ #canvas_manipulator.draw()
# might need to manually update all artists here from ax_something
#canvas_manipulator.blit(fig_manipulator.bbox)
canvas_manip_graphs.draw()
diff --git a/python/initial_python_solution/robot_stuff/.forw_kinm.py.swp b/python/initial_python_solution/robot_stuff/.forw_kinm.py.swp
deleted file mode 100644
index c0aefbb19e9fc5f2403b0c03a9d5e4906deb177d..0000000000000000000000000000000000000000
Binary files a/python/initial_python_solution/robot_stuff/.forw_kinm.py.swp and /dev/null differ
diff --git a/python/initial_python_solution/robot_stuff/__pycache__/forw_kinm.cpython-310.pyc b/python/initial_python_solution/robot_stuff/__pycache__/forw_kinm.cpython-310.pyc
index fef8c56c5d57b61d99de335ea07b479488fdf269..ae795696554855aaab0586582d8ca7a29dcd7522 100644
Binary files a/python/initial_python_solution/robot_stuff/__pycache__/forw_kinm.cpython-310.pyc and b/python/initial_python_solution/robot_stuff/__pycache__/forw_kinm.cpython-310.pyc differ
diff --git a/python/initial_python_solution/robot_stuff/forw_kinm.py b/python/initial_python_solution/robot_stuff/forw_kinm.py
index dbf3d3e077bbd38e7084b3f0c8325d5679a2da36..0a54f807779e36f9c913ea72e29e149c5dfd516e 100644
--- a/python/initial_python_solution/robot_stuff/forw_kinm.py
+++ b/python/initial_python_solution/robot_stuff/forw_kinm.py
@@ -133,10 +133,14 @@ 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')#, 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)
+ #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)
+ 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