pytransform3d.plot_utils.Trajectory

class pytransform3d.plot_utils.Trajectory(H, show_direction=True, n_frames=10, s=1.0, **kwargs)

Bases: Artist

A Matplotlib artist that displays a trajectory.

Parameters:

Harray-like, shape (n_steps, 4, 4)

Sequence of poses represented by homogeneous matrices

show_directionbool, optional (default: True)

Plot an arrow to indicate the direction of the trajectory

n_framesint, optional (default: 10)

Number of frames that should be plotted to indicate the rotation

sfloat, optional (default: 1)

Scaling of the frames that will be drawn

Other arguments are passed onto Line3D.

__init__(H, show_direction=True, n_frames=10, s=1.0, **kwargs)

Methods

__init__(H[, show_direction, n_frames, s])
add_trajectory(axis)	Add the trajectory to a 3D axis.
draw(renderer, *args, **kwargs)	Draw the artist.
set(*[, agg_filter, alpha, animated, ...])	Set multiple properties at once.
set_data(H)	Set the trajectory data.

Attributes

set_data(H)

Set the trajectory data.

Parameters:

Harray-like, shape (n_steps, 4, 4)

Sequence of poses represented by homogeneous matrices

draw(renderer, *args, **kwargs)

Draw the artist.

add_trajectory(axis)

Add the trajectory to a 3D axis.

set(*, agg_filter=<UNSET>, alpha=<UNSET>, animated=<UNSET>, clip_box=<UNSET>, clip_on=<UNSET>, clip_path=<UNSET>, data=<UNSET>, gid=<UNSET>, in_layout=<UNSET>, label=<UNSET>, path_effects=<UNSET>, picker=<UNSET>, rasterized=<UNSET>, sketch_params=<UNSET>, snap=<UNSET>, transform=<UNSET>, url=<UNSET>, visible=<UNSET>, zorder=<UNSET>)

Set multiple properties at once.

Supported properties are

Properties:

agg_filter: a filter function, which takes a (m, n, 3) float array and a dpi value, and returns a (m, n, 3) array alpha: scalar or None animated: bool clip_box: .Bbox clip_on: bool clip_path: Patch or (Path, Transform) or None data: array-like, shape (n_steps, 4, 4) figure: .Figure gid: str in_layout: bool label: object path_effects: .AbstractPathEffect picker: None or bool or float or callable rasterized: bool sketch_params: (scale: float, length: float, randomness: float) snap: bool or None transform: .Transform url: str visible: bool zorder: float

Examples using pytransform3d.plot_utils.Trajectory

Plot Straight Line Paths

Plot Straight Line Paths

Dual Quaternion Interpolation

Dual Quaternion Interpolation

Animate Trajectory

Animate Trajectory