Merge branch 'future' of github.com:petercorke/robotics-toolbox-python into future

Author: jhavl

.github/workflows/test.yml

@@ -28,7 +28,7 @@ jobs:
       run: |
         pip install .[dev,collision]
         pip install pytest-timeout
-        pytest --timeout=50 --timeout_method thread -s
+        pytest --ignore=roboticstoolbox/blocks --timeout=50 --timeout_method thread -s
   codecov:
     # If all tests pass:
     # Run coverage and upload to codecov
@@ -46,7 +46,7 @@ jobs:
     - name: Run coverage
       run: |
         pip install -e .[dev,collision,vpython]
-        pytest --cov=roboticstoolbox --cov-report xml:coverage.xml
+        pytest --ignore=roboticstoolbox/blocks --cov=roboticstoolbox --cov-report xml:coverage.xml
         coverage report
     - name: upload coverage to Codecov
       uses: codecov/codecov-action@v3

.github/workflows/test_future.yml

@@ -69,4 +69,4 @@ jobs:
         pip install pytest-timeout
         python -c "import spatialgeometry"
         python -c "import roboticstoolbox"
-        pytest --timeout=50 --timeout_method thread -s
+        pytest --ignore=roboticstoolbox/blocks --timeout=50 --timeout_method thread -s

pyproject.toml

@@ -13,7 +13,7 @@ authors = [
 
 dependencies = [
     "numpy>=1.17.4",
-    "spatialmath-python~=1.0.0",
+    "spatialmath-python>=1.1.5",
     "spatialgeometry~=1.0.0",
     "pgraph-python",
     "scipy",

roboticstoolbox/blocks/mobile.py

@@ -451,9 +451,3 @@ def step(self, state=None, **kwargs):
             self.ax.relim()
             self.ax.autoscale_view()
         super().step(state=state)
-
-    def done(self, block=False, **kwargs):
-        if self.bd.runtime.options.graphics:
-            plt.show(block=block)
-
-            super().done()

roboticstoolbox/blocks/uav.py

@@ -863,7 +863,7 @@ def plot3(h, x, y, z):
 
         # plot the vehicle's centroid on the ground plane
         plot3(self.shadow, [z[0], 0], [-z[1], 0], [0, 0])
-        plot3(self.groundmark, z[0], -z[1], 0)
+        plot3(self.groundmark, [z[0]], [-z[1]], [0])
 
         textstr = f"t={state.t: .2f}\nh={z[2]: .2f}\nγ={n[0]: .2f}"
         self.panel.set_text(textstr)

roboticstoolbox/mobile/Animations.py

@@ -5,6 +5,7 @@
 from abc import ABC
 from math import pi, atan2
 import numpy as np
+
 # from scipy import integrate, linalg, interpolate
 from pathlib import Path
 import matplotlib.pyplot as plt
@@ -14,6 +15,7 @@
 from spatialmath import SE2, base
 from roboticstoolbox import rtb_load_data
 
+
 class VehicleAnimationBase(ABC):
     """
     Abstract base class to support animation of a vehicle on Matplotlib plot
@@ -114,6 +116,7 @@ def __del__(self):
         if self._object is not None:
             self._object.remove()
 
+
 # ========================================================================= #
 class VehicleMarker(VehicleAnimationBase):
     def __init__(self, **kwargs):
@@ -161,6 +164,7 @@ def _add(self, x=None, **kwargs):
 
 # ========================================================================= #
 
+
 class VehiclePolygon(VehicleAnimationBase):
     def __init__(self, shape="car", scale=1, **kwargs):
         """
@@ -272,7 +276,7 @@ def __init__(self, filename, origin=None, scale=1, rotation=0):
 
         Creates an object that can be passed to a ``Vehicle`` subclass to
         depict the moving robot as an image icon during simulation.  The image
-        is translated and rotated to represent the vehicle configuration. 
+        is translated and rotated to represent the vehicle configuration.
 
         The car is scaled to an image with a horizontal length (width) of
         ``scale`` in the units of the plot. By default the image is assumed to
@@ -416,7 +420,7 @@ def _update(self, x):
 
     V = np.diag(np.r_[0.02, 0.5 * pi / 180] ** 2)
 
-    v = VehiclePolygon(facecolor='None', edgecolor='k')
+    v = VehiclePolygon(facecolor="None", edgecolor="k")
     # v = VehicleIcon('greycar2', scale=2, rotation=90)
 
     veh = Bicycle(covar=V, animation=v, control=RandomPath(10), verbose=False)

roboticstoolbox/mobile/DistanceTransformPlanner.py

@@ -40,7 +40,7 @@ class DistanceTransformPlanner(PlannerBase):
 
     The map is described by a 2D occupancy ``occgrid`` whose elements are zero
     if traversable of nonzero if untraversable, ie. an obstacle.
-    
+
     The cells are assumed to be unit squares. Crossing the cell horizontally or
     vertically is a travel distance of 1, and for the Euclidean distance
     measure, the crossing the cell diagonally is a distance of :math:`\sqrt{2}`.
@@ -106,7 +106,7 @@ def __str__(self):
 
         return s
 
-    def plan(self, goal=None, animate=False, verbose=False):
+    def plan(self, goal=None, animate=False, summary=False):
         r"""
         Plan path using distance transform
 
@@ -135,7 +135,8 @@ def plan(self, goal=None, animate=False, verbose=False):
             self.occgrid.grid,
             goal=self._goal,
             metric=self._metric,
-            animate=animate
+            animate=animate,
+            summary=summary,
         )
 
     def next(self, position):
@@ -147,7 +148,7 @@ def next(self, position):
         :raises RuntimeError: no plan has been computed
         :return: next robot position
         :rtype: ndarray(2)
-        
+
         Return the robot position that is one step closer to the goal. Called
         by :meth:`query` to find a path from start to goal.
 
@@ -215,7 +216,7 @@ def plot_3d(self, path=None, ls=None):
             line/surface handling.
         """
         fig = plt.figure()
-        ax = fig.gca(projection="3d")
+        ax = fig.add_subplot(111, projection="3d")
 
         distance = self._distancemap
         X, Y = np.meshgrid(np.arange(distance.shape[1]), np.arange(distance.shape[0]))
@@ -273,7 +274,7 @@ def distancexform(occgrid, goal, metric="cityblock", animate=False, summary=Fals
     # - other cells are inf
     # - goal is zero
 
-    goal = base.getvector(goal, 2, dtype=np.int)
+    goal = base.getvector(goal, 2, dtype=int)
 
     distance = occgrid.astype(np.float32)
     distance[occgrid > 0] = np.nan  # assign nan to obstacle cells