gps_fusion.py now shows second order system results with the Displayer (position, not yet uncertainty)

display/dislpay_2d.py

@@ -3,16 +3,13 @@ from matplotlib.animation import FuncAnimation
 import numpy as np
 
 
-#
-# Displayer class
-#
-
 class Displayer:
-    def __init__(self, width, height):
+    def __init__(self, width, height, frame_interval=50):
         self._fig, self._ax = plt.subplots()
         self._fig.set_figwidth(width)
         self._fig.set_figheight(height)
-    
+        self._frame_interval = frame_interval
+
         self._object_map = {}
         self._circle_map = {}
         self._objects = []
@@ -31,14 +28,12 @@ class Displayer:
         return self._objects
 
     
-    #
     # Functions for initalization
-    #
 
 
-    def set_axis_limits(self, min, max):
-        self._xlim = (min, max)
-        self._ylim = (min, max)
+    def set_axis_limits(self, xlim, ylim):
+        self._xlim = xlim
+        self._ylim = ylim
 
 
     def register_object(self, obj_name, obj_color='r'):
@@ -49,22 +44,18 @@ class Displayer:
         self._objects.append(self._circle_map[obj_name])
 
 
-    #
     # Functions to be used in the animation callback
-    #
 
 
-    def move_object(self, obj_name, x, y):
-        self._object_map[obj_name].set_data([x, y])
-        self._circle_map[obj_name].center = (x, y)
+    def move_object(self, obj_name, position):
+        self._object_map[obj_name].set_data(position)
+        self._circle_map[obj_name].center = position
 
     def set_circle_radius(self, obj_name, r):
         self._circle_map[obj_name].radius = r
 
 
-    #
     # Start the animation
-    #
 
 
     def animate(self, n_steps, anim_callback):
@@ -72,6 +63,10 @@ class Displayer:
             anim_callback(self, t)
             return self._objects
 
-        anim = FuncAnimation(self._fig, anim_callback_wrapper, frames=np.linspace(0, n_steps-1, n_steps),
-                            init_func=self.__init_animation, blit=True)
+        anim = FuncAnimation(self._fig,
+                            anim_callback_wrapper,
+                            n_steps,
+                            interval=self._frame_interval,
+                            init_func=self.__init_animation,
+                            blit=True)
         plt.show()