dqrobotics-pyplot 25.4.0.13

An extension of dqrobotics to use matplotlib.pyplot to plot DQ elements.

pyplot extensions to dqrobotics

License

LGPL

Installation

python3 -m pip install dqrobotics-pyplot

Calling example

After installation, the example script can be called with

dqrobotisc_pyplot_example

Usage example

See the script in

src/dqrobotics_extensions/pyplot/example.py

https://github.com/MarinhoLab/dqrobotics-pyplot/blob/7f8a4b02ef1f2e03bdcafa551b3ea8beadfdcf61/src/dqrobotics_extensions/pyplot/example.py#L31-L67

Importing the library

https://github.com/MarinhoLab/dqrobotics-pyplot/blob/7f8a4b02ef1f2e03bdcafa551b3ea8beadfdcf61/src/dqrobotics_extensions/pyplot/example.py#L24-L25

Seting up the plot

dqrobotics-pyplot uses matplotlib.pyplot, so always remember to create a proper figure and axes with projection='3d''. Other settings are a matter of taste and desired quality.

https://github.com/MarinhoLab/dqrobotics-pyplot/blob/7f8a4b02ef1f2e03bdcafa551b3ea8beadfdcf61/src/dqrobotics_extensions/pyplot/example.py#L33-L36

Drawing a pose

Calling dqp.plot() without additional settings with a DQ argument will result in a reference-frame-type plot.

https://github.com/MarinhoLab/dqrobotics-pyplot/blob/7f8a4b02ef1f2e03bdcafa551b3ea8beadfdcf61/src/dqrobotics_extensions/pyplot/example.py#L44-L48

Drawing a line

Call dqp.plot() with line=True to plot a line.

https://github.com/MarinhoLab/dqrobotics-pyplot/blob/7f8a4b02ef1f2e03bdcafa551b3ea8beadfdcf61/src/dqrobotics_extensions/pyplot/example.py#L50-L54

Drawing a plane

Call dqp.plot() with plane=True to plot a plane.

https://github.com/MarinhoLab/dqrobotics-pyplot/blob/7f8a4b02ef1f2e03bdcafa551b3ea8beadfdcf61/src/dqrobotics_extensions/pyplot/example.py#L56-L60

Drawing a manipulator

Call dqp.plot() with a DQ_SerialManipulator as argument and always remember to set the q argument, which should be a suitable np.array.

https://github.com/MarinhoLab/dqrobotics-pyplot/blob/7f8a4b02ef1f2e03bdcafa551b3ea8beadfdcf61/src/dqrobotics_extensions/pyplot/example.py#L62-L65