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sim - vis - pdf: support multiple CFs #397

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merged 2 commits into from
Jan 11, 2024
Merged

sim - vis - pdf: support multiple CFs #397

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911293e
sim - vis - pdf: support multiple CFs
whoenig Jan 10, 2024
57ee457
fix flake8 issues
whoenig Jan 10, 2024
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16 changes: 10 additions & 6 deletions crazyflie_sim/crazyflie_sim/visualization/pdf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,17 +30,17 @@ def step(self, t, states: list[State], states_desired: list[State], actions: lis
self.all_actions.append(copy.deepcopy(actions))

def shutdown(self):
with PdfPages(self.filename) as pdf:

for k, name in enumerate(self.names):
for k, name in enumerate(self.names):

cf_states = np.array([s[k]._state for s in self.all_states])
cf_states_desired = np.array([s[k]._state for s in self.all_states_desired])
cf_actions = np.array([s[k]._action for s in self.all_actions])

with PdfPages(self.filename) as pdf:
cf_states = np.array([s[k]._state for s in self.all_states])
cf_states_desired = np.array([s[k]._state for s in self.all_states_desired])
cf_actions = np.array([s[k]._action for s in self.all_actions])

# position
fig, axs = plt.subplots(3, 1, sharex=True)
fig.suptitle(name + ' position')
axs[0].set_ylabel('px [m]')
axs[1].set_ylabel('py [m]')
axs[2].set_ylabel('pz [m]')
Expand All @@ -55,6 +55,7 @@ def shutdown(self):

# velocity
fig, axs = plt.subplots(3, 1, sharex=True)
fig.suptitle(name + ' velocity')
axs[0].set_ylabel('vx [m/s]')
axs[1].set_ylabel('vy [m/s]')
axs[2].set_ylabel('vz [m/s]')
Expand All @@ -69,6 +70,7 @@ def shutdown(self):

# orientation
fig, axs = plt.subplots(3, 1, sharex=True)
fig.suptitle(name + ' orientation')
axs[0].set_ylabel('roll [deg]')
axs[1].set_ylabel('pitch [deg]')
axs[2].set_ylabel('yaw [deg]')
Expand All @@ -87,6 +89,7 @@ def shutdown(self):

# omega
fig, axs = plt.subplots(3, 1, sharex=True)
fig.suptitle(name + ' angular velocity')
axs[0].set_ylabel('wx [deg/s]')
axs[1].set_ylabel('wy [deg/s]')
axs[2].set_ylabel('wz [deg/s]')
Expand All @@ -101,6 +104,7 @@ def shutdown(self):

# actions
fig, axs = plt.subplots(2, 2, sharex=True, sharey=True)
fig.suptitle(name + ' motor actions')
axs[0, 0].set_ylabel('rpm')
axs[1, 0].set_ylabel('rpm')
axs[1, 0].set_xlabel('Time [s]')
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