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reduced frames in animation, better initial guess #244

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reduced frames in animation, better initial guess #244

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reduced frames in animation, better initial guess
Peter230655 Sep 18, 2024
08fb6ca
changed as per suggestions from Jason and Timo
Peter230655 Sep 19, 2024
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Binary file added examples-gallery/parallel_park_solution.npy
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23 changes: 19 additions & 4 deletions examples-gallery/plot_parallel_park.py
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
# %%
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Not sure why this is added as the first line, should be removed.

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Not sure why this is added as the first line, should be removed.

I have to add this in VSC so I can run the simulation from the begining.
I will remove before I push

"""
Parallel Park a Car
===================
Expand Down Expand Up @@ -185,10 +186,14 @@

# %%
# Find the optimal solution.
initial_guess = np.load('parallel_park_solution.npy')
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If we add these to examples, we need to explain to the reader why we are doing so.

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If we add these to examples, we need to explain to the reader why we are doing so.

I will correct. Just slipped.

solution, info = prob.solve(initial_guess)
print(info['status_msg'])
print(info['obj_val'])

# %%
#Improved initial_guess is stored like this
# ```np.save('parallel_park_solution.npy', solution)```
# %%
# Plot the optimal state and input trajectories.
prob.plot_trajectories(solution)
Expand Down Expand Up @@ -223,8 +228,18 @@
coords = []
for xi, ui in zip(xs.T, us.T):
coords.append(eval_point_coords(xi, ui, list(par_map.values())))
coords = np.array(coords) # shape(600, 3, 8)

coords = np.array(coords) # shape(501, 3, 5)

coords1 = []
time1 = []
for i in range(coords.shape[0]):
if i % 3 == 0:
coords1.append(coords[i, :, :])
time1.append(time[i])
coords1.append(coords[-1, :, :])
time1.append(time[-1])
time = np.array(time1)
coords = np.array(coords1)
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This is an overly complicated way to skip frames (if that is what it does). It isn't so favorable for such things to be in examples for beginners.

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Just use slicing in numpy that would be a need approach. Though an easier approach in this case would be providing a range like range(0, len(time), 3) to FuncAnimation.

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This is an overly complicated way to skip frames (if that is what it does). It isn't so favorable for such things to be in examples for beginners.

Yes, I wanted to skip frames, and I could not think of a simpler way.

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I thought one of the examples already has exactly what Timo suggests.

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Just use slicing in numpy that would be a need approach. Though an easier approach in this case would be providing a range like range(0, len(time), 3) to FuncAnimation.

Not sure, I understand what slicing means - my Python skill are limited. Could you explain, please.
This "range thing" I understand, I will try!

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I thought one of the examples already has exactly what Timo suggests.
I will look at the examples for this feature, I did not look before.

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Internet search of "numpy slicing" points to: https://numpy.org/doc/stable/user/basics.indexing.html#slicing-and-striding

Now clear! This I even know, just did not think about it :-(

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All the PRs I made today have equally clumsy ways of reducing the frames.
I will improve tomorrow.

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@Peter230655 in this case it is even easier to use ani = animation.FuncAnimation(fig, animate, range(0, len(time), 3), than numpy slicing. Though learning more about numpy slicing is definitely useful.

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@Peter230655 in this case it is even easier to use ani = animation.FuncAnimation(fig, animate, range(0, len(time), 3), than numpy slicing. Though learning more about numpy slicing is definitely useful.

I will try this first thing tomorrow morning!! :-)


def frame(i):

Expand Down Expand Up @@ -261,12 +276,12 @@ def animate(i):


ani = animation.FuncAnimation(fig, animate, len(time),
interval=int(interval_value*1000))
interval=int(interval_value*1000*1))

# %%
# A frame from the animation.

# sphinx_gallery_thumbnail_number = 7
frame(450)
frame(140)

plt.show()
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