movement_primitives.dmp_potential_field.plot_potential_field_2d¶
- movement_primitives.dmp_potential_field.plot_potential_field_2d(ax, dmp, x_range, y_range, n_ticks, obstacle=None, exaggerate_arrows=25.0)¶
Plot 2D potential field of a DMP.
We will indicate the influence of the transformation system at each position with green arrows, the influence of the forcing term with red arrows, the influence of obstacle avoidance with yellow arrows, and the combined acceleration with a black arrow.
- Parameters:
- axMatplotlib axis
Axis on which we draw the potential field.
- dmpDMP
DMP object.
- x_rangetuple
Range of x-axis.
- y_rangetuple
Range of y-axis.
- n_ticksint
Number of ticks per dimension.
- obstaclearray, shape (2,), optional (default: None)
Obstacle position in the plane.
- exaggerate_arrowsfloat, optional (default: 25)
Multiply arrow sizes by this factor.