visualization.py 文件源码

def update_scene(self, x):
        x0 = x[0]
        phi1 = np.rad2deg(x[2])
        phi2 = np.rad2deg(x[4])

        # cart and shaft
        self.cart.set_x(-st.cart_length/2 + x0)
        self.pendulum_shaft.center = [x0, 0]

        t_phi1 = (mpl.transforms.Affine2D().rotate_deg_around(x0, 0, phi1)
                  + self.axes.transData)
        t_phi2 = (mpl.transforms.Affine2D().rotate_deg_around(x0, 0, phi2)
                  + self.axes.transData)

        # long pendulum
        self.long_pendulum.set_xy([-st.long_pendulum_radius + x0, 0])
        self.long_pendulum.set_transform(t_phi1)
        self.long_pendulum_weight.set_xy([-st.pendulum_weight_radius
                                          + x0, st.long_pendulum_height])
        self.long_pendulum_weight.set_transform(t_phi1)

        # short pendulum
        self.short_pendulum.set_xy(np.array([-st.short_pendulum_radius, 0])
                                   + np.array([x0, 0]))
        self.short_pendulum.set_transform(t_phi2)
        self.short_pendulum_weight.set_xy([-st.pendulum_weight_radius + x0,
                                           st.short_pendulum_height])

        self.short_pendulum_weight.set_transform(t_phi2)
        self.canvas.draw()