Init commit of stored data and media.

src/stored_data_plotter.py

@@ -0,0 +1,90 @@
+#!/usr/bin/env python
+
+# Import needed python packages
+import numpy as np
+import os
+import csv
+import pandas as pd
+import matplotlib.pyplot as plt
+from matplotlib import animation
+
+class Plotter():
+    """
+    Class the plots stored data from the effort sensing node.
+    """
+    def __init__(self,animate=False):
+        """
+        Function that stores the dataframe.
+        :param self: The self reference.
+        :param animate: Boolean to determine animation plotting.
+        """
+        # Create path to save effort and position values
+        dir_path = '/home/hello-robot/catkin_ws/src/stretch_ros_tutorials/stored_data'
+
+        ####################### Copy the file name here! #######################
+        file_name = '2022-06-30_11:26:20-AM'
+
+        # Complete name of directory to pull from.
+        self.completeName = os.path.join(dir_path, file_name)
+
+        # Store dataframe
+        self.data = pd.read_csv(self.completeName)
+
+        # Create empty list for animation
+        self.y_anim = []
+
+        # Set self.animate to boolean argument
+        self.animate = animate
+
+    def plot_data(self):
+        """
+        Function that plots dataframe
+        :param self: The self reference.
+        """
+        # Utililze a forloop to print each joint's effort
+        for joint in self.data.columns:
+
+            # Create figure, labels, and title
+            fig = plt.figure()
+            plt.title(joint + ' Effort Sensing')
+            plt.ylabel('Effort')
+            plt.xlabel('Data Points')
+
+            # Conditional statement for animation plotting
+            if self.animate:
+                self.effort = self.data[joint]
+                frames = len(self.effort)-1
+                anim = animation.FuncAnimation(fig=fig,func=self.plot_animate, repeat=False,blit=False,frames=frames, interval =75)
+                plt.show()
+
+                ## If you want to save a video, make sure to comment out plt.show(),
+                ## right before this comment.
+                # save_path = str(self.completeName + '.mp4')
+                # anim.save(save_path, writer=animation.FFMpegWriter(fps=10))
+
+                # Reset y_anim for the next joint effort animation
+                del self.y_anim[:]
+
+
+            # Conditional statement for regular plotting (No animation)
+            else:
+                self.data[joint].plot(kind='line')
+                # save_path = str(self.completeName + '.png')
+                # plt.savefig(save_path, bbox_inches='tight')
+                plt.show()
+
+
+    def plot_animate(self,i):
+        """
+        Function that plots every increment of the dataframe.
+        :param self: The self reference.
+        :param i: index value.
+        """
+        # Append self.effort values for given joint.
+        self.y_anim.append(self.effort.values[i])
+        plt.plot(self.y_anim, color='blue')
+
+
+if __name__ == '__main__':
+    viz = Plotter(animate=True)
+    viz.plot_data()