update plotting

zhm-real · Nov 12, 2020 · b5ef129 · b5ef129
1 parent 1257bbc
commit b5ef129
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Showing 2 changed files with 5 additions and 8 deletions.
diff --git a/Sampling_based_Planning/rrt_3D/FMT_star3D.py b/Sampling_based_Planning/rrt_3D/FMT_star3D.py
@@ -129,7 +129,7 @@ def FMTrun(self):
                 return 
             ind += 1
             print(str(ind) + ' node expanded')
-            # self.visualization(ind, E)
+            self.visualization(ind, E)
             # update current node
             Vopenlist = list(self.Vopen)
             z = Vopenlist[np.argmin([self.c[y] for y in self.Vopen])]
@@ -160,7 +160,8 @@ def visualization(self, ind, E):
 
             # ax.view_init(elev=0.+ 0.03*initparams.ind/(2*np.pi), azim=90 + 0.03*initparams.ind/(2*np.pi))
             # ax.view_init(elev=0., azim=90.)
-            ax.view_init(elev=90., azim=0.)
+            ax.view_init(elev=65., azim=60.)
+            ax.dist = 15
             # ax.view_init(elev=-8., azim=180)
             ax.clear()
             # drawing objects

diff --git a/Sampling_based_Planning/rrt_3D/plot_util3D.py b/Sampling_based_Planning/rrt_3D/plot_util3D.py
@@ -40,9 +40,7 @@ def draw_block_list(ax, blocks, color=None, alpha=0.15):
     if type(ax) is Poly3DCollection:
         ax.set_verts(vl[fl])
     else:
-        pc = Poly3DCollection(vl[fl], alpha=alpha, linewidths=1, edgecolors='k')
-        pc.set_facecolor(color)
-        h = ax.add_collection3d(pc)
+        h = ax.add_collection3d(Poly3DCollection(vl[fl], facecolors='black', alpha=alpha, linewidths=1, edgecolors='k'))
         return h
 
 
@@ -68,9 +66,7 @@ def draw_obb(ax, OBB, color=None, alpha=0.15):
     if type(ax) is Poly3DCollection:
         ax.set_verts(vl[fl])
     else:
-        pc = Poly3DCollection(vl[fl], alpha=alpha, linewidths=1, edgecolors='k')
-        pc.set_facecolor(color)
-        h = ax.add_collection3d(pc)
+        h = ax.add_collection3d(Poly3DCollection(vl[fl], facecolors='black', alpha=alpha, linewidths=1, edgecolors='k'))
         return h