msf_frame.py 文件源码

def reset_view_handler(self):

        if not self.first_odometry_received:
            # Init subplots.
            self.axes_position = self.figure.add_subplot(211)
            self.axes_velocity = self.figure.add_subplot(212)

        else:
            # Clear subplots.
            self.axes_position.clear()
            self.axes_velocity.clear()

        # Position.
        self.axes_position.set_xlabel('Time [s]')
        self.axes_position.set_ylabel('Position [m]')
        self.axes_position.grid()

        # Velocity.
        self.axes_velocity.set_xlabel('Time [s]')
        self.axes_velocity.set_ylabel('Velocity [m/s]')
        self.axes_velocity.grid()

        # Position data.
        self.odometry_msg_count = 0
        self.time_odometry = deque([], maxlen=maxLengthDequeArray)
        self.x = deque([], maxlen=maxLengthDequeArray)
        self.y = deque([], maxlen=maxLengthDequeArray)
        self.z = deque([], maxlen=maxLengthDequeArray)
        self.line_x = []
        self.line_y = []
        self.line_z = []

        # Velocity data.
        self.vx = deque([], maxlen=maxLengthDequeArray)
        self.vy = deque([], maxlen=maxLengthDequeArray)
        self.vz = deque([], maxlen=maxLengthDequeArray)
        self.line_vx = []
        self.line_vy = []
        self.line_vz = []

        self.reset_plot_view = True