rofunc.utils.visualab.ellipsoid#

1.  Module Contents#

1.1.  Functions#

sphere_plot3d

Plot 3D sphere or ellipsoid

plot_ellipsoid_3d

Plot the 3-d Ellipsoid ell on the Axes3D ax.

ellipsoid_plot3d

Plot the ellipsoids in 3d, used by rf.robolab.manipulability.mpb.get_mpb_from_model

1.2.  API#

rofunc.utils.visualab.ellipsoid.sphere_plot3d(mean, cov, color=[1, 0, 0], alpha=0.2, ax=None)[source]#

Plot 3D sphere or ellipsoid

Example:

>>> import rofunc as rf
>>> import numpy as np
>>> from matplotlib import pyplot as plt
>>> means = np.array([0.5, 0.0, 0.0])
>>> covs = np.diag([6, 12, 0.1])
>>> rf.visualab.sphere_plot3d(means, covs)
>>> plt.show()
Parameters:

  • mean – the mean point coordinate of sphere

  • cov – the covariance matrix of the sphere

  • color – the color of the ellipsoid

  • alpha – the transparency of the ellipsoid

  • ax – the axis to plot the ellipsoid

rofunc.utils.visualab.ellipsoid.plot_ellipsoid_3d(ell, ax, color, alpha)[source]#

Plot the 3-d Ellipsoid ell on the Axes3D ax.

Parameters:

  • ell – the ellipsoid to plot

  • ax – the axis to plot the ellipsoid

  • color – the color of the ellipsoid

  • alpha – the transparency of the ellipsoid

rofunc.utils.visualab.ellipsoid.ellipsoid_plot3d(ellipsoids, mode='quaternion', Rs=None)[source]#

Plot the ellipsoids in 3d, used by rf.robolab.manipulability.mpb.get_mpb_from_model

Parameters:

  • ellipsoids – list of ellipsoids to plot

  • mode – ‘quaternion’ or ‘euler’ or ‘given’

  • Rs – rotation matrices

Returns:

None