So things to main and update makeGraph
This commit is contained in:
Cal Wing
parent
17cfa82b4b
commit
fb1b40503a
34
main.py
34
main.py
@ -75,8 +75,8 @@ def cacheData(dataFilePath: str, calcFunction: callable = lambda x: x, args: tup
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# - FSP_Y (in m/s^2) - the specific force in the body-fixed y-direction
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# - FSP_Z (in m/s^2) - the specific force in the body-fixed z-direction
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IMU_TIME_HEADER = ["Time [s]"]
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IMU_WBE_HEADERS = ["WBE_1 [rad/s]", "WBE_2 [rad/s]", "WBE_3 [rad/s]"]
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IMU_FSP_HEADERS = ["FSP_X [m/s^2]", "FSP_Y [m/s^2]", "FSP_Z [m/s^2]"]
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IMU_WBE_HEADERS = ["WBE_1 [rad/s]", "WBE_2 [rad/s]", "WBE_3 [rad/s]"] # Roll, Pitch, Yaw - Rate
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IMU_FSP_HEADERS = ["FSP_X [m/s^2]", "FSP_Y [m/s^2]", "FSP_Z [m/s^2]"] # Specific Force X, Y , Z
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IMU_DATA_HEADER = IMU_TIME_HEADER + IMU_WBE_HEADERS + IMU_FSP_HEADERS
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def importIMUData(mission, imu):
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# If IMU is not a string, then convert based on bool eval where "H" == True
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@ -96,7 +96,7 @@ m2_IMUData = importIMUData(2, 0), importIMUData(2, 1)
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# NED Translation & Force Functions
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INIT_EULER_ANGLES = (0, 0, 0)
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def translate2NED(angles, euler_angles):
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def attidude_rate_2NED(angles, euler_angles):
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phi, theta, psi = euler_angles
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p, q, r = angles
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@ -113,14 +113,14 @@ def translate2NED(angles, euler_angles):
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return np.matmul(transMat, angleMat)
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def getNEDForces(NEDPos):
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phi, theta, psi = NEDPos
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phi, theta, psi = NEDPos # Roll, Pitch, Yaw
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forceMat = np.array([ [cos(psi)*cos(theta), cos(psi)*sin(theta)*sin(phi)-sin(psi)*cos(phi), cos(psi)*sin(theta)*cos(phi)+sin(psi)*sin(phi)],
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R41 = np.array([ [cos(psi)*cos(theta), cos(psi)*sin(theta)*sin(phi)-sin(psi)*cos(phi), cos(psi)*sin(theta)*cos(phi)+sin(psi)*sin(phi)],
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[sin(psi)*cos(theta), sin(psi)*sin(theta)*sin(phi)+cos(psi)*cos(phi), sin(psi)*sin(theta)*cos(phi)-cos(psi)*sin(phi)],
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[-sin(theta), cos(theta)*sin(phi), cos(theta)*cos(phi) ]
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])
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return forceMat
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return R41
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# Calculate Mission Translation & Force Data
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TRANS_DATA_HEADER = IMU_TIME_HEADER + IMU_WBE_HEADERS + ["Forces", "ForceSum", "ForceCumSum"]
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@ -128,13 +128,13 @@ def calculateTranslatedData(missionWBEData) -> pd.DataFrame:
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print("Translating Motion & Calculating Resulting Forces")
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translatedData = pd.DataFrame(columns=TRANS_DATA_HEADER)
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for i in tqdm(range(len(missionWBEData))):
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dataPoint = missionWBEData[IMU_WBE_HEADERS].iloc[i]
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trans = translate2NED(dataPoint.values, INIT_EULER_ANGLES).flatten()
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dataPoint = missionWBEData[IMU_WBE_HEADERS].iloc[i] # Get the time point data
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trans = attidude_rate_2NED(dataPoint.values, INIT_EULER_ANGLES).flatten() # Translate to Net
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forces = getNEDForces(trans)
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forceSum = np.array([np.sum(forces[:,0].flatten()), np.sum(forces[:,1].flatten()), np.sum(forces[:,2].flatten())])
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privForce = translatedData[TRANS_DATA_HEADER[5]].iloc[i-1] if i > 0 else [0, 0, 0]
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forceCumSum = np.array([ forceSum[ii] + value for ii, value in enumerate(privForce) ])
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dataRow = {
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translatedData.loc[i] = {
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TRANS_DATA_HEADER[0]: missionWBEData[IMU_TIME_HEADER].iloc[i],
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TRANS_DATA_HEADER[1]: trans[0],
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TRANS_DATA_HEADER[2]: trans[1],
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@ -143,23 +143,27 @@ def calculateTranslatedData(missionWBEData) -> pd.DataFrame:
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TRANS_DATA_HEADER[5]: forceSum,
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TRANS_DATA_HEADER[6]: forceCumSum,
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}
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translatedData.loc[i] = dataRow
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return translatedData
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if __name__ == '__main__':
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missionWBEData = m1_IMUData[0][IMU_TIME_HEADER + IMU_WBE_HEADERS]
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translatedData = cacheData("./tmp/m1_transData.dfz", calculateTranslatedData, (missionWBEData,))
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x = np.cumsum(translatedData[IMU_WBE_HEADERS[0]])
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y = np.cumsum(translatedData[IMU_WBE_HEADERS[1]])
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z = np.cumsum(translatedData[IMU_WBE_HEADERS[2]])
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import matplotlib.pyplot as plt
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fig = plt.figure()
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ax = plt.axes(projection='3d')
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plots = translatedData[TRANS_DATA_HEADER[6]].values
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x = [p[0] for p in plots]
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y = [p[1] for p in plots]
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z = [p[2] for p in plots]
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#x = [p[0] for p in plots]
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#y = [p[1] for p in plots]
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#z = [p[2] for p in plots]
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ax.plot3D(x, y, z)
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ax.plot3D(x+5, y-2, z+1)
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plt.show()
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95
makeGraph.py
95
makeGraph.py
@ -6,7 +6,7 @@
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#### 2023 - Added UQ Default Colours to MatPlotLib
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__author__ = "Cal Wing"
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__version__ = "0.1.10"
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__version__ = "0.1.12"
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from collections.abc import Iterator
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import numpy as np
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@ -15,6 +15,7 @@ import matplotlib.pyplot as plt
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import matplotlib.colors as colors
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from mpl_toolkits.axes_grid1 import make_axes_locatable
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from cycler import cycler
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from tqdm import tqdm
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# Define the UQ Colours
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UQ_COLOURS_DICT = {
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@ -62,6 +63,10 @@ class ColourValue(str):
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def hsv(self) -> np.ndarray:
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return colors.rgb_to_hsv(self.rgb())
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def alpha_adj(self, alpha):
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r, g, b, a = self.rgba()
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return (r, g, b, alpha)
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# Define the UQ Colours in a nicer object
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class ColourList(object):
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@ -243,7 +248,7 @@ def makeGraph(graphData, showPlot=True, doProgramBlock=True, figSavePath=None, h
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"xLabel", "yLabel", "title", "axis", "grid", "xPos", "yPos",
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"xLabelPos", "yLabelPos", "xTickPos", "yTickPos", "xScale", "yScale",
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"xTickMap", "yTickMap", "plots", "xLim", "yLim", "ledgLoc", "y2Label",
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"ticklabel"
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"ticklabel", "xInvert", "yInvert"
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]
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#Feel like this could be optimized
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@ -258,15 +263,20 @@ def makeGraph(graphData, showPlot=True, doProgramBlock=True, figSavePath=None, h
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for i, axGraphData in enumerate(graphData["subPlots"]):
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ax1 = flatAxes[i]
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if "skip" in axGraphData and axGraphData["skip"]:
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ax1.set_axis_off()
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continue
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if bool(sum([("y2" in pData) for pData in axGraphData["plots"]])):
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ax2 = ax1.twinx()
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else:
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ax2 = None
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additional_legends = []
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# Duct Tape
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ax = ax1
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#Draw many plots as needed
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# Also provide functions for drawing other types of lines
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if "plots" in axGraphData:
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@ -276,6 +286,10 @@ def makeGraph(graphData, showPlot=True, doProgramBlock=True, figSavePath=None, h
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getSafeColour = getSafeValue("colour") or getSafeValue("color") #Frigen American Spelling
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optArgs = getSafeValue("args", {}) #Allow for other args to be passed in
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currentLine = None
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if "skip" in pData and pData["skip"]: continue
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if "x" in pData:
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xData = pData["x"]
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@ -286,22 +300,43 @@ def makeGraph(graphData, showPlot=True, doProgramBlock=True, figSavePath=None, h
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ax = ax2
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if "type" not in pData or pData["type"] == "plot":
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ax.plot(xData, yData, label=getSafeValue("label"), color=getSafeColour, **optArgs)
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currentLine = ax.plot(xData, yData, label=getSafeValue("label"), color=getSafeColour, **optArgs)
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currentLineColour = currentLine.get_color()
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if "maxPoint" in pData:
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labelText = pData["maxPoint"] if type(pData["maxPoint"]) == str else "Maximum Point ({0:.2f})"
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x, y = np.array(xData), np.array(yData)
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maxPoint = np.max(x), y[np.argmax(x)]
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ax.scatter(maxPoint[0], maxPoint[1],
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marker=getSafeValue("maxMarker", "o"), label=labelText.format(*maxPoint),
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color=currentLineColour, zorder=getSafeValue("maxZorder", 2))
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if "minPoint" in pData:
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labelText = pData["minPoint"] if type(pData["minPoint"]) == str else "Minimum Point ({0:.2f})"
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x, y = np.array(xData), np.array(yData)
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minPoint = np.min(x), y[np.argmin(x)]
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ax.scatter(minPoint[0], minPoint[1],
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marker=getSafeValue("minMarker", "*" if "maxPoint" in pData else "o"),
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label=labelText.format(*minPoint), color=currentLineColour,
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zorder=getSafeValue("minxZorder", 2))
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elif pData["type"] == "point":
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ax.scatter(xData, yData,
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marker=getSafeValue("marker"), label=getSafeValue("label"),
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color=getSafeColour, zorder=getSafeValue("zorder", 2),
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**optArgs )
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**optArgs)
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elif pData["type"] == "hLine":
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ax.hlines(yData, *xData, label=getSafeValue("label"), color=getSafeColour, **optArgs)
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currentLine = ax.hlines(yData, *xData, label=getSafeValue("label"), color=getSafeColour, **optArgs)
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elif pData["type"] == "vLine":
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ax.vlines(xData, *yData, label=getSafeValue("label"), color=getSafeColour, **optArgs)
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currentLine = ax.vlines(xData, *yData, label=getSafeValue("label"), color=getSafeColour, **optArgs)
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elif pData["type"] == "axvLine":
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if "y" not in pData: yData = (0, 1) #Span the whole graph
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ax.axvline(xData, *yData, label=getSafeValue("label"), color=getSafeColour, **optArgs)
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currentLine = ax.axvline(xData, *yData, label=getSafeValue("label"), color=getSafeColour, **optArgs)
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elif pData["type"] == "axhLine":
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if "x" not in pData: xData = (0, 1) #Span the whole graph
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ax.axhline(yData, *xData, label=getSafeValue("label"), color=getSafeColour, **optArgs)
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currentLine = ax.axhline(yData, *xData, label=getSafeValue("label"), color=getSafeColour, **optArgs)
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elif pData["type"] == "scatter":
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ax.scatter(xData, yData, marker=getSafeValue("marker"), label=getSafeValue("label"), color=getSafeColour, **optArgs)
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@ -368,7 +403,30 @@ def makeGraph(graphData, showPlot=True, doProgramBlock=True, figSavePath=None, h
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align = getSafeValue("align", align)
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ax.text(getSafeValue("x", 0.05), getSafeValue("y", 0.95), pData["text"], transform=ax.transAxes, fontsize=getSafeValue("fontsize", None), va=align[0], ha=align[1], bbox=props)
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elif pData["type"] == "addLabel":
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additional_legends.append(pData["line"])
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if "fillAlpha" in pData or ("fill" in pData and ("type" not in pData or pData["type"] in ["plot"])):
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currentLine = ax.get_lines()[-1] if currentLine is None else currentLine
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line_colour = colors.to_rgba(currentLine.get_color())
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fillData = pData["fill"] if type(pData["fill"]) == dict and "fill" in pData else {}
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if "fillAlpha" not in fillData: fillData["fillAlpha"] = pData["fillAlpha"] if "fillAlpha" in pData else 0.07
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line_colour = (line_colour[0], line_colour[1], line_colour[2], fillData["fillAlpha"])
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if "color" not in fillData: fillData["color"] = line_colour
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if "y2" not in fillData: fillData["y2"] = 0
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if "where" not in fillData: fillData["where"] = None
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if "interpolate" not in fillData: fillData["interpolate"] = False
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if "step" not in fillData: fillData["step"] = None
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if "data" not in fillData: fillData["data"] = None
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if "args" not in fillData: fillData["args"] = {}
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ax.fill_between(xData, yData, fillData["y2"], color=fillData["color"],
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where=fillData["where"], interpolate=fillData["interpolate"],
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step=fillData["step"], data=fillData["data"], **fillData["args"]
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)
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#Set extra options as needed
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ax = ax1
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@ -390,6 +448,8 @@ def makeGraph(graphData, showPlot=True, doProgramBlock=True, figSavePath=None, h
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if "yTickPos" in axGraphData: ax.yaxis.set_ticks_position(axGraphData["yTickPos"]) # Add the ability to move the y axis ticks
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if "xScale" in axGraphData: ax.set_xscale(axGraphData["xScale"]) #Add x axis scaling if needed
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if "yScale" in axGraphData: ax.set_yscale(axGraphData["yScale"]) #Add y axis scaling if needed
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if "xInvert" in axGraphData and axGraphData["xInvert"]: ax.invert_xaxis()
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if "yInvert" in axGraphData and axGraphData["yInvert"]: ax.invert_yaxis()
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if "xLim" in axGraphData:
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xLimit = ()
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if type(axGraphData["xLim"]) in [int, float]:
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@ -405,21 +465,24 @@ def makeGraph(graphData, showPlot=True, doProgramBlock=True, figSavePath=None, h
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yLimit = axGraphData["yLim"]
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ax.set_ylim(yLimit)
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if "xTickMap" in axGraphData: #Allow for the mapping / transformation of the xAxis Ticks
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xTicks = matplotlib.ticker.FuncFormatter(lambda x, pos: '{0:g}'.format(axGraphData["xTickMap"](x)))
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formatter = axGraphData["xTickMap"]
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xTicks = matplotlib.ticker.FuncFormatter(formatter)
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ax.xaxis.set_major_formatter(xTicks)
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if "yTickMap" in axGraphData: #Allow for the mapping / transformation of the yAxis Ticks
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yTicks = matplotlib.ticker.FuncFormatter(lambda y, pos: '{0:g}'.format(axGraphData["yTickMap"](y)))
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formatter = axGraphData["yTickMap"]
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yTicks = matplotlib.ticker.FuncFormatter(formatter)
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ax.yaxis.set_major_formatter(yTicks)
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if "plots" in axGraphData and bool(sum([("label" in pData) for pData in axGraphData["plots"]])):
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locPoint = axGraphData["ledgLoc"] if "ledgLoc" in axGraphData else None
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add_lines, add_labels = additional_legends, [line.get_label() for line in additional_legends]
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lines1, labels1 = ax1.get_legend_handles_labels()
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if ax2:
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lines2, labels2 = ax2.get_legend_handles_labels()
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ax2.legend(lines1 + lines2, labels1 + labels2, loc=locPoint)
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ax2.legend(lines1 + lines2 + add_lines, labels1 + labels2 + add_labels, loc=locPoint)
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else:
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ax1.legend(lines1, labels1, loc=locPoint)
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ax1.legend(lines1 + add_lines, labels1 + add_labels, loc=locPoint)
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if "ticklabel" in axGraphData:
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style = axGraphData["ticklabel"]["style"] if "style" in axGraphData["ticklabel"] else ""
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@ -434,12 +497,14 @@ def makeGraph(graphData, showPlot=True, doProgramBlock=True, figSavePath=None, h
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ax.set_axis_off()
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if "title" in graphData and not "figTitle" in graphData: fig.canvas.manager.set_window_title(graphData["title"].replace("\n", " ")) #Set the figure title correctly
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if "title" in graphData or "winTitle" in graphData:
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title = graphData["winTitle"] if "winTitle" in graphData else graphData["title"]
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fig.canvas.manager.set_window_title(title.replace("\n", " ")) #Set the figure title correctly
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if "figTitle" in graphData:
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getSafeValue = lambda key: graphData[key] if key in graphData else None #Only return the key-value if present in graphData
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fig.suptitle(graphData["figTitle"], fontsize=getSafeValue("figTitleFontSize"))
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fig.canvas.manager.set_window_title(graphData["figTitle"].replace("\n", " "))
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if "title" not in graphData: fig.canvas.manager.set_window_title(graphData["figTitle"].replace("\n", " "))
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fig.tight_layout() #Fix labels being cut off sometimes
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