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Cleaned up

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This commit is contained in:
simondlevy
2016-08-25 19:42:18 -04:00
parent a70f412127
commit bb926bac95
1 changed files with 2 additions and 31 deletions
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29
examples/pltslamshow.py
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@@ -18,34 +18,9 @@ along with this code. If not, see <http://www.gnu.org/licenses/>.
''' '''
# Robot display params # Robot display params
ROBOT_COLOR_BGR = (0, 0, 255)
ROBOT_HEIGHT = 16
ROBOT_WIDTH = 10
ROBOT_HEIGHT_MM = 500 ROBOT_HEIGHT_MM = 500
ROBOT_WIDTH_MM = 300 ROBOT_WIDTH_MM = 300
# Scan point display params
SCANPOINT_RADIUS = 1
SCANPOINT_COLOR_BGR = (0, 255, 0)
# Display params for odometry-based velocity
SENSOR_V_MAX_MM = 1000
SENSOR_THETA_MAX_DEG = 20
SENSOR_BAR_X = 150
SENSOR_BAR_Y_OFFSET = 3
SENSOR_BAR_WIDTH = 20
SENSOR_BAR_MAX_HEIGHT = 200
SENSOR_TEXT_X = 20
SENSOR_V_Y = 30
SENSOR_THETA_Y = 80
SENSOR_LABEL_COLOR_BGR = (255,0,0)
SENSOR_POSITIVE_COLOR_BGR = (0,255,0)
SENSOR_NEGATIVE_COLOR_BGR = (0,0,255)
# Trajectory display params
TRAJECTORY_COLOR_BGR = (255, 0, 0)
import matplotlib.pyplot as plt import matplotlib.pyplot as plt
import matplotlib.cm as colormap import matplotlib.cm as colormap
from math import sin, cos, radians from math import sin, cos, radians
@@ -75,8 +50,6 @@ class SlamShow(object):
self.ax.set_aspect("auto") self.ax.set_aspect("auto")
self.ax.set_autoscale_on(True) self.ax.set_autoscale_on(True)
map_size_mm = map_scale_mm_per_pixel * map_size_pixels
# Use an "artist" to speed up map drawing # Use an "artist" to speed up map drawing
self.img_artist = None self.img_artist = None
@@ -167,5 +140,3 @@ def plt_rotate(x, y, r, deg):
dx = r * c dx = r * c
dy = r * s dy = r * s
return x+dx, y+dy return x+dx, y+dy