Matplotlib helpers

module:

navground.sim.pyplot_helpers

Helpers to plot simulations using matplotlib

plot_agent(ax: Axes, agent: sim.Agent, pose: core.Pose2 | None = None, velocity: core.Vector2 | None = None, velocity_arrow_width: float = 0, velocity_arrow_edge_color: str = 'k', velocity_arrow_alpha: float = 0.5, color: str = '', alpha: float = 1.0, dot_color: str = 'k', dot_radius: float = 0.25, with_safety_margin: bool = False, transform: Affine2D | None = None, zorder: int = 1) → None

Plots an agent as a disc together with: - a smaller dot to indicate the direction - an optional arrow for its velocity - an optional circle for the safety margin

Parameters:

• ax – The pyplot axes

• agent – The agent

• pose – A pose that override the agent own pose.

• velocity – A velocity that override the agent own velocity.

• velocity_arrow_width – The width of the velocity arrow

• velocity_arrow_edge_color – The stroke color of the velocity arrow

• velocity_arrow_alpha – The opacity of the velocity arrow

• color – The color

• alpha – The opacity

• dot_color – The color of the dot

• dot_radius – The relative radius of the dot as fraction of the radius

• with_safety_margin – Whether to display the safety margin

• transform – An optional affine transformation to apply to the plot

• zorder – The Z-order

plot_world(ax: Axes, world: World, obstacles_color: str = 'k', obstacles_alpha: float = 1.0, in_box: bool = False, no_ticks: bool = False, with_agents: bool = False, transform: Affine2D | None = None, zorder: int = 1, **kwargs: Any) → None

Plots a world.

Parameters:

• ax – The pyplot axes

• world – The world

• obstacles_color – The color of obstacles and walls

• obstacles_alpha – The opacity of obstacles and walls

• in_box – Whether to restrict the plot within the world bounding box

• no_ticks – Whether to remove the axis ticks

• with_agents – Whether to plot agents

• transform – An optional affine transformation to apply to the plot

• zorder – The Z-order

• kwargs – Keywords passed to plot_agent()

plot_trajectory(ax: Axes, poses: ndarray[Any, dtype[floating[Any]]], color: str, agent: Agent | None = None, step: int = 0, label: str = '', plot_last_pose: bool = False, zorder: int = 1, **kwargs: Any) → None

Plots a trajectory composed by an array of poses (x, y, theta)

Parameters:

• ax – The pyplot axes

• poses – The poses

• color – The color

• agent – The agent to display or none

• step – The regular step at which to display the agent if provided or a dot

• label – The label

• plot_last_pose – Whether to force plotting the last agent pose

• zorder – The Z-order

• kwargs – Keywords passed to plot_agent()

plot_run(ax: Axes, run: ExperimentalRun | RecordedExperimentalRun, agent_indices: list[int] | slice = slice(None, None, None), step: int = 0, label: str = '', with_agent: bool = False, color: Callable[[Agent], str] | None = None, zorder: int = 1, agent_kwargs: Mapping[str, Any] = {}, with_world: bool = True, world_kwargs: Mapping[str, Any] = {}) → None

Plots an experimental run

Parameters:

• ax – The pyplot axes

• run – The run

• agent_indices – The indices of the agents whose trajectory should be plotted.

• step – The regular step at which to display the agent if provided or a dot

• label – The label

• with_agent – Whether to display agents

• color – A function to assign a color to an agent. If not provided, it will fallback to the agent’s own color.

• agent_kwargs – Keywords arguments passed to plot_agent()

• with_world – Whether to display the world

• world_kwargs – Keywords arguments passed to plot_world()