main.py

import numpy as np
import matplotlib.pyplot as plt
from matplotlib import animation
import agent
import simulation
import motorPrimitive
import visual
import combine_motorPrimitives

# AGENT PARAMETERS ------------------------------------------------
size = 5
color = 'r'

# AGENT INITIALIZED --------------------------------------------
agent1 = agent.Agent(size,color) 
X = combine_motorPrimitives.final_x
Y = combine_motorPrimitives.final_y
PHI = combine_motorPrimitives.MP1_phi

# FIGURE VISUALIZATION -----------------------------------------
## ANIMATION FIGURE
fig = plt.figure(1,figsize=(7,5))
ax = plt.axes(xlim=(-5,300), ylim=(0,300))
ax.set_title('Simulation')

patch = plt.Circle((combine_motorPrimitives.start_x,combine_motorPrimitives.start_y), agent1.size, fc = agent1.color)
ax.plot(X,Y,'lightsteelblue')

## XY, AND MOTOR PRIM IN FIGURE 2 --------------------------------
visual.mp_phi_plot(combine_motorPrimitives.MP1_alist,combine_motorPrimitives.MP1_func,combine_motorPrimitives.MP1_phi,
                  combine_motorPrimitives.MP2_alist,combine_motorPrimitives.MP2_func,combine_motorPrimitives.MP2_phi)

visual.xy_plot(X,Y,combine_motorPrimitives.summed_x,combine_motorPrimitives.summmed_y)

# INITIAL STATE OF THE PLOT ------------------------------------
def init():
    ax.add_patch(patch)
    return patch,


# TRANSFORMATION PER FRAME -------------------------------------
def animate(i):
    x,y = patch.center # initial position of the agent 
    x = X[i]
    y = Y[i]
    patch.center = (x, y)
    return patch,


# MATPLOTLIB SIMULATION FUNCTION THAT USES INIT() AND ANIMATE()
anim = animation.FuncAnimation(fig, animate, 
                               init_func=init, 
                               interval = 2,
                               frames=2000, 
                               blit=True,
                               repeat = False)


plt.show()