pyrieef.rendering package

Submodules

pyrieef.rendering.common_imports module

pyrieef.rendering.gl_cartesian module

Optional 3D renderer based on Open3D’s visualizer.

pyrieef.rendering.gl_planar module

2D rendering framework imported from openai 15/08/08 https://github.com/openai/gym/blob/master/gym/envs/classic_control/rendering.py

class pyrieef.rendering.gl_planar.Attr

Bases: object

disable()

enable()

class pyrieef.rendering.gl_planar.Color(vec4)

Bases: pyrieef.rendering.gl_planar.Attr

enable()

class pyrieef.rendering.gl_planar.Compound(gs)

Bases: pyrieef.rendering.gl_planar.Geom

render1()

class pyrieef.rendering.gl_planar.FilledPolygon(v)

Bases: pyrieef.rendering.gl_planar.Geom

render1()

class pyrieef.rendering.gl_planar.Geom

Bases: object

add_attr(attr)

render()

render1()

set_color(r, g, b)

class pyrieef.rendering.gl_planar.Image(width, height, arr=None, fname=None)

Bases: pyrieef.rendering.gl_planar.Geom

render1()

class pyrieef.rendering.gl_planar.Line(start=(0.0, 0.0), end=(0.0, 0.0))

Bases: pyrieef.rendering.gl_planar.Geom

render1()

set_linewidth(x)

class pyrieef.rendering.gl_planar.LineStyle(style)

Bases: pyrieef.rendering.gl_planar.Attr

disable()

enable()

class pyrieef.rendering.gl_planar.LineWidth(stroke)

Bases: pyrieef.rendering.gl_planar.Attr

enable()

class pyrieef.rendering.gl_planar.Point

Bases: pyrieef.rendering.gl_planar.Geom

render1()

class pyrieef.rendering.gl_planar.PolyLine(v, close)

Bases: pyrieef.rendering.gl_planar.Geom

render1()

set_linewidth(x)

class pyrieef.rendering.gl_planar.SimpleImageViewer(display=None)

Bases: object

close()

imshow(arr)

class pyrieef.rendering.gl_planar.Transform(translation=(0.0, 0.0), rotation=0.0, scale=(1, 1))

Bases: pyrieef.rendering.gl_planar.Attr

disable()

enable()

set_rotation(new)

set_scale(newx, newy)

set_translation(newx, newy)

class pyrieef.rendering.gl_planar.Viewer(width, height, display=None)

Bases: object

add_geom(geom)

add_onetime(geom)

close()

draw_circle(radius=10, res=30, filled=True, **attrs)

draw_line(start, end, **attrs)

draw_polygon(v, filled=True, **attrs)

draw_polyline(v, **attrs)

get_array()

render(return_rgb_array=False)

set_bounds(left, right, bottom, top)

window_closed_by_user()

pyrieef.rendering.gl_planar.get_display(spec)

Convert a display specification (such as :0) into an actual Display object. Pyglet only supports multiple Displays on Linux.

pyrieef.rendering.gl_planar.make_capsule(length, width)

pyrieef.rendering.gl_planar.make_circle(radius=10, res=30, filled=True)

pyrieef.rendering.gl_planar.make_polygon(v, filled=True)

pyrieef.rendering.gl_planar.make_polyline(v)

pyrieef.rendering.heightmap module

class pyrieef.rendering.heightmap.Heightmap

Bases: object

add_circle_to_draw(origin, radius=1.0, color=(1, 0, 0), alpha=1.0)

add_sphere_to_draw(origin, radius=1.0, color=(1, 0, 0), alpha=1.0)

draw(black=False)

draw_objects()

get_x(i, dx)

get_y(j, dy)

load(image, dx, dy, dz)

loads the vertices positions from an image

transform(x_min, x_max, y_min, y_max)

From certain box coordinates to heightmap coordinates

class pyrieef.rendering.heightmap.Primitive(object_type, origin, radius, color, alpha)

Bases: object

pyrieef.rendering.heightmap.circle_verticies(origin, radius=1, nb_verticies=20, z=0.0)

This way of proceeding is so stupid…

pyrieef.rendering.heightmap.draw_gl()

pyrieef.rendering.heightmap.flux_qubit_potential(phi_m, phi_p)

pyrieef.rendering.heightmap.image_surface(nb_points)

generate surface from data

pyrieef.rendering.heightmap.potential_surface(nb_points)

generete an abstract mathematical surface

pyrieef.rendering.heightmap.resize_gl(width, height)

pyrieef.rendering.heightmap.sphere_coordinates(lat, lon)

pyrieef.rendering.heightmap.sphere_verticies(origin, radius=1, step=10)

For the some reason the GLU makes colors as shit TODO It would be easier to implement with:

sphere = gluNewQuadric() gluSphere(sphere, o.radius, 50, 50)

This way of proceeding is so stupid…

pyrieef.rendering.heightmap_renderer module

pyrieef.rendering.optimization module

class pyrieef.rendering.optimization.TrajectoryOptimizationViewer(objective, draw=True, draw_gradient=True, use_3d=False, use_gl=True, scale=700.0)

Bases: object

Wrapper around a Trajectory objective function tha can draw the inner optimization quantities

draw(trajectory, g_traj=None)

draw_gradient(x)

forward(x)

gradient(x)

hessian(x)

init_viewer(workspace, scale=700.0)

reset_objective()

pyrieef.rendering.shader module

class pyrieef.rendering.shader.Shader(vert=[], frag=[], geom=[])

Bases: object

bind()

createShader(strings, type)

link()

unbind()

uniform_matrixf(name, mat)

uniformf(name, *vals)

uniformi(name, *vals)

pyrieef.rendering.show_image module

pyrieef.rendering.sphere module

pyrieef.rendering.workspace_cartesian module

pyrieef.rendering.workspace_planar module

class pyrieef.rendering.workspace_planar.WorkspaceDrawer(workspace, wait_for_keyboard=False, rows=1, cols=1, scale=1.0, dynamic=False)

Bases: pyrieef.rendering.workspace_planar.WorkspaceRender

Workspace display based on matplotlib backend

draw_ws_background(phi, nb_points=100, color_style=<matplotlib.colors.ListedColormap object>, interpolate='bilinear')

draw_ws_circle(radius, origin, color=(0, 1, 0))

draw_ws_img(Z, interpolate='nearest', color_style=<matplotlib.colors.ListedColormap object>)

Examples of coloring are[viridis, hot, bone, magma]

see page : https://matplotlib.org/examples/color/colormaps_reference.html

draw_ws_line(line, color='r', color_id=None)

draw_ws_line_fill(line, color='r', color_id=None, linewidth=2.0)

draws a line where points are given as a list

draw_ws_obstacles()

draw_ws_point(point, color='b', shape='x')

draw_ws_polygon(vertices, origin, rotation, color=(1, 0, 0))

init(rows, cols)

remove_axis()

save_figure(path)

set_drawing_axis(i)

set_title(title, fontsize=15)

show()

show_once(t_sleep=0.0001)

class pyrieef.rendering.workspace_planar.WorkspaceHeightmap(workspace)

Bases: pyrieef.rendering.workspace_planar.WorkspaceRender

Workspace display based on pyglet heighmap

close()

draw_ws_background(function)

draw_ws_circle(radius, origin, color=(0, 1, 0), height=20.0)

draw_ws_line(line, color=(1, 0, 0))

draw_ws_obstacles()

draw_ws_point(point, color='b', shape='x')

draw_ws_sphere(p, height=20.0, color=(1, 0, 0))

heightmap_coordinates(p, height)

normalize_height(c)

on_draw()

on_mouse_drag(x, y, dx, dy, button, modifiers)

on_mouse_scroll(x, y, scroll_x, scroll_y)

on_resize(width, height)

render(return_rgb_array=False)

reset_objects()

reset_spheres()

show()

show_once(t_sleep=0.2)

update(dt)

window_closed_by_user()

class pyrieef.rendering.workspace_planar.WorkspaceOpenGl(workspace, wait_for_keyboard=False, display=None, scale=700.0)

Bases: pyrieef.rendering.workspace_planar.WorkspaceRender

Workspace display based on pyglet backend

draw_ws_background(phi, nb_points=100, color_style=<matplotlib.colors.ListedColormap object>, interpolate='bilinear')

draw_ws_circle(radius, origin, color=(0, 1, 0))

draw_ws_img(Z)

draw_ws_line(line, color=(1, 0, 0))

draw_ws_obstacles()

draw_ws_point(point, color='b', shape='x')

draw_ws_polygon(vertices, origin, rotation, color=(1, 0, 0))

show()

show_once()

class pyrieef.rendering.workspace_planar.WorkspaceRender(workspace)

Bases: object

Abstract class to draw a 2D workspace

abstract draw_ws_background(function)

abstract draw_ws_circle(radius, origin, color=(0, 1, 0))

abstract draw_ws_line(line, color=(1, 0, 0))

abstract draw_ws_obstacles()

abstract draw_ws_polygon(polygon, color=(1, 0, 0))

reset_objects()

set_workspace(workspace)

pyrieef.rendering.workspace_planar.to_rgb3(im)

we can use dstack and an array copy this has to be slow, we create an array with 3x the data we need and truncate afterwards

Module contents