Python rendering.Transform方法代码示例

# 需要导入模块: from gym.envs.classic_control import rendering [as 别名]
# 或者: from gym.envs.classic_control.rendering import Transform [as 别名]
def render(self, mode='human'):

        if self.viewer is None:
            from gym.envs.classic_control import rendering
            self.viewer = rendering.Viewer(500,500)
            self.viewer.set_bounds(-2.2,2.2,-2.2,2.2)
            rod = rendering.make_capsule(1, .2)
            rod.set_color(.8, .3, .3)
            self.pole_transform = rendering.Transform()
            rod.add_attr(self.pole_transform)
            self.viewer.add_geom(rod)
            axle = rendering.make_circle(.05)
            axle.set_color(0,0,0)
            self.viewer.add_geom(axle)
            fname = path.join(path.dirname(__file__), "assets/clockwise.png")
            self.img = rendering.Image(fname, 1., 1.)
            self.imgtrans = rendering.Transform()
            self.img.add_attr(self.imgtrans)

        self.viewer.add_onetime(self.img)
        self.pole_transform.set_rotation(self.state[0] + np.pi/2)
        if self.last_u:
            self.imgtrans.scale = (-self.last_u/2, np.abs(self.last_u)/2)

        return self.viewer.render(return_rgb_array = mode=='rgb_array') 

# 需要导入模块: from gym.envs.classic_control import rendering [as 别名]
# 或者: from gym.envs.classic_control.rendering import Transform [as 别名]
def _render_human(self):
        if self.viewer is None:
            from gym.envs.classic_control import rendering
            self.viewer = rendering.Viewer(600, 600)
            self.viewer.set_bounds(-220, +220, -220, +220)

            truck = rendering.make_capsule(8, 4)
            truck.set_color(0.0, 0.0, 0.0)
            self.truck_transform = rendering.Transform()
            truck.add_attr(self.truck_transform)
            self.viewer.add_geom(truck)

            for node in self.policeman.map['nodes'].values():
                circle = rendering.make_circle(2)
                circle.set_color(0.6, 0.6, 0.6)
                dot_transform = rendering.Transform((node['position']['x'], -node['position']['z']))
                circle.add_attr(dot_transform)
                self.viewer.add_geom(circle)

        position, orientation = self.data.worldPlacement.position, self.data.worldPlacement.orientation
        self.truck_transform.set_rotation(orientation.heading * math.pi * 2 - math.pi / 2)
        self.truck_transform.set_translation(position.x, -position.z)
        return self.viewer.render() 

# 需要导入模块: from gym.envs.classic_control import rendering [as 别名]
# 或者: from gym.envs.classic_control.rendering import Transform [as 别名]
def render(self, mode='human'):

        if self.viewer is None:
            from gym.envs.classic_control import rendering
            self.viewer = rendering.Viewer(500, 500)
            self.viewer.set_bounds(-2.2, 2.2, -2.2, 2.2)
            rod = rendering.make_capsule(1, .2)
            rod.set_color(.8, .3, .3)
            self.pole_transform = rendering.Transform()
            rod.add_attr(self.pole_transform)
            self.viewer.add_geom(rod)
            axle = rendering.make_circle(.05)
            axle.set_color(0, 0, 0)
            self.viewer.add_geom(axle)
            fname = path.join(path.dirname(__file__), "assets/clockwise.png")
            self.img = rendering.Image(fname, 1., 1.)
            self.imgtrans = rendering.Transform()
            self.img.add_attr(self.imgtrans)

        self.viewer.add_onetime(self.img)
        self.pole_transform.set_rotation(self.state[0] + np.pi/2)
        if self.last_u:
            self.imgtrans.scale = (-self.last_u/2, np.abs(self.last_u)/2)

        return self.viewer.render(return_rgb_array=mode == 'rgb_array') 

# 需要导入模块: from gym.envs.classic_control import rendering [as 别名]
# 或者: from gym.envs.classic_control.rendering import Transform [as 别名]
def render(self, mode='human'):
        from gym.envs.classic_control import rendering
        if self.viewer is None:
            self.viewer = rendering.Viewer(VIEWPORT_W, VIEWPORT_H)
            self.viewer.set_bounds(0, VIEWPORT_W/SCALE, 0, VIEWPORT_H/SCALE)

        for obj in self.particles:
            obj.ttl -= 0.15
            obj.color1 = (max(0.2,0.2+obj.ttl), max(0.2,0.5*obj.ttl), max(0.2,0.5*obj.ttl))
            obj.color2 = (max(0.2,0.2+obj.ttl), max(0.2,0.5*obj.ttl), max(0.2,0.5*obj.ttl))

        self._clean_particles(False)

        for p in self.sky_polys:
            self.viewer.draw_polygon(p, color=(0,0,0))

        for obj in self.particles + self.drawlist:
            for f in obj.fixtures:
                trans = f.body.transform
                if type(f.shape) is circleShape:
                    t = rendering.Transform(translation=trans*f.shape.pos)
                    self.viewer.draw_circle(f.shape.radius, 20, color=obj.color1).add_attr(t)
                    self.viewer.draw_circle(f.shape.radius, 20, color=obj.color2, filled=False, linewidth=2).add_attr(t)
                else:
                    path = [trans*v for v in f.shape.vertices]
                    self.viewer.draw_polygon(path, color=obj.color1)
                    path.append(path[0])
                    self.viewer.draw_polyline(path, color=obj.color2, linewidth=2)

        for x in [self.helipad_x1, self.helipad_x2]:
            flagy1 = self.helipad_y
            flagy2 = flagy1 + 50/SCALE
            self.viewer.draw_polyline( [(x, flagy1), (x, flagy2)], color=(1,1,1) )
            self.viewer.draw_polygon( [(x, flagy2), (x, flagy2-10/SCALE), (x+25/SCALE, flagy2-5/SCALE)], color=(0.8,0.8,0) )

        return self.viewer.render(return_rgb_array = mode=='rgb_array') 

# 需要导入模块: from gym.envs.classic_control import rendering [as 别名]
# 或者: from gym.envs.classic_control.rendering import Transform [as 别名]
def render(self, mode='human'):
        from gym.envs.classic_control import rendering

        s = self.state

        if self.viewer is None:
            self.viewer = rendering.Viewer(500,500)
            self.viewer.set_bounds(-2.2,2.2,-2.2,2.2)

        if s is None: return None

        p1 = [-self.LINK_LENGTH_1 *
              np.cos(s[0]), self.LINK_LENGTH_1 * np.sin(s[0])]

        p2 = [p1[0] - self.LINK_LENGTH_2 * np.cos(s[0] + s[1]),
              p1[1] + self.LINK_LENGTH_2 * np.sin(s[0] + s[1])]

        xys = np.array([[0,0], p1, p2])[:,::-1]
        thetas = [s[0]-np.pi/2, s[0]+s[1]-np.pi/2]

        self.viewer.draw_line((-2.2, 1), (2.2, 1))
        for ((x,y),th) in zip(xys, thetas):
            l,r,t,b = 0, 1, .1, -.1
            jtransform = rendering.Transform(rotation=th, translation=(x,y))
            link = self.viewer.draw_polygon([(l,b), (l,t), (r,t), (r,b)])
            link.add_attr(jtransform)
            link.set_color(0,.8, .8)
            circ = self.viewer.draw_circle(.1)
            circ.set_color(.8, .8, 0)
            circ.add_attr(jtransform)

        return self.viewer.render(return_rgb_array = mode=='rgb_array') 

# 需要导入模块: from gym.envs.classic_control import rendering [as 别名]
# 或者: from gym.envs.classic_control.rendering import Transform [as 别名]
def display(self, mode='human'):
        from gym.envs.classic_control import rendering

        s = self.state

        if self.viewer is None:
            self.viewer = rendering.Viewer(500, 500)
            self.viewer.set_bounds(-2.2, 2.2, -2.2, 2.2)

        if s is None: return None

        p1 = [-self.LINK_LENGTH_1 *
              np.cos(s[0]), self.LINK_LENGTH_1 * np.sin(s[0])]

        p2 = [p1[0] - self.LINK_LENGTH_2 * np.cos(s[0] + s[1]),
              p1[1] + self.LINK_LENGTH_2 * np.sin(s[0] + s[1])]

        xys = np.array([[0, 0], p1, p2])[:, ::-1]
        thetas = [s[0] - np.pi / 2, s[0] + s[1] - np.pi / 2]

        self.viewer.draw_line((-2.2, 1), (2.2, 1))
        for ((x, y), th) in zip(xys, thetas):
            l, r, t, b = 0, 1, .1, -.1
            jtransform = rendering.Transform(rotation=th, translation=(x, y))
            link = self.viewer.draw_polygon([(l, b), (l, t), (r, t), (r, b)])
            link.add_attr(jtransform)
            link.set_color(0, .8, .8)
            circ = self.viewer.draw_circle(.1)
            circ.set_color(.8, .8, 0)
            circ.add_attr(jtransform)

        return self.viewer.render(return_rgb_array=mode == 'rgb_array') 

# 需要导入模块: from gym.envs.classic_control import rendering [as 别名]
# 或者: from gym.envs.classic_control.rendering import Transform [as 别名]
def render(self, mode='human'):
        from gym.envs.classic_control import rendering

        s = self.state

        if self.viewer is None:
            self.viewer = rendering.Viewer(500,500)
            bound = self.LINK_LENGTH_1 + self.LINK_LENGTH_2 + 0.2  # 2.2 for default
            self.viewer.set_bounds(-bound,bound,-bound,bound)

        if s is None: return None

        p1 = [-self.LINK_LENGTH_1 *
              cos(s[0]), self.LINK_LENGTH_1 * sin(s[0])]

        p2 = [p1[0] - self.LINK_LENGTH_2 * cos(s[0] + s[1]),
              p1[1] + self.LINK_LENGTH_2 * sin(s[0] + s[1])]

        xys = np.array([[0,0], p1, p2])[:,::-1]
        thetas = [s[0]- pi/2, s[0]+s[1]-pi/2]
        link_lengths = [self.LINK_LENGTH_1, self.LINK_LENGTH_2]

        self.viewer.draw_line((-2.2, 1), (2.2, 1))
        for ((x,y),th,llen) in zip(xys, thetas, link_lengths):
            l,r,t,b = 0, llen, .1, -.1
            jtransform = rendering.Transform(rotation=th, translation=(x,y))
            link = self.viewer.draw_polygon([(l,b), (l,t), (r,t), (r,b)])
            link.add_attr(jtransform)
            link.set_color(0,.8, .8)
            circ = self.viewer.draw_circle(.1)
            circ.set_color(.8, .8, 0)
            circ.add_attr(jtransform)

        return self.viewer.render(return_rgb_array = mode=='rgb_array') 

# 需要导入模块: from gym.envs.classic_control import rendering [as 别名]
# 或者: from gym.envs.classic_control.rendering import Transform [as 别名]
def _render(self, mode='human', close=False):
        if close:
            if self.viewer is not None:
                self.viewer.close()
                self.viewer = None
            return

        from gym.envs.classic_control import rendering
        if self.viewer is None:
            self.viewer = rendering.Viewer(VIEWPORT_W, VIEWPORT_H)
            self.viewer.set_bounds(0, VIEWPORT_W/SCALE, 0, VIEWPORT_H/SCALE)

        for obj in self.particles:
            obj.ttl -= 0.15
            obj.color1 = (max(0.2,0.2+obj.ttl), max(0.2,0.5*obj.ttl), max(0.2,0.5*obj.ttl))
            obj.color2 = (max(0.2,0.2+obj.ttl), max(0.2,0.5*obj.ttl), max(0.2,0.5*obj.ttl))

        self._clean_particles(False)

        for p in self.sky_polys:
            self.viewer.draw_polygon(p, color=(0,0,0))

        for obj in self.particles + self.drawlist:
            for f in obj.fixtures:
                trans = f.body.transform
                if type(f.shape) is circleShape:
                    t = rendering.Transform(translation=trans*f.shape.pos)
                    self.viewer.draw_circle(f.shape.radius, 20, color=obj.color1).add_attr(t)
                    self.viewer.draw_circle(f.shape.radius, 20, color=obj.color2, filled=False, linewidth=2).add_attr(t)
                else:
                    path = [trans*v for v in f.shape.vertices]
                    self.viewer.draw_polygon(path, color=obj.color1)
                    path.append(path[0])
                    self.viewer.draw_polyline(path, color=obj.color2, linewidth=2)

        for x in [self.helipad_x1, self.helipad_x2]:
            flagy1 = self.helipad_y
            flagy2 = flagy1 + 50/SCALE
            self.viewer.draw_polyline( [(x, flagy1), (x, flagy2)], color=(1,1,1) )
            self.viewer.draw_polygon( [(x, flagy2), (x, flagy2-10/SCALE), (x+25/SCALE, flagy2-5/SCALE)], color=(0.8,0.8,0) )

        clock_prog = self.curr_step / MAX_NUM_STEPS
        self.viewer.draw_polyline( [(0, 0.05*VIEWPORT_H/SCALE), (clock_prog*VIEWPORT_W/SCALE, 0.05*VIEWPORT_H/SCALE)], color=(255,0,0), linewidth=5  )

        return self.viewer.render(return_rgb_array = mode=='rgb_array') 

# 需要导入模块: from gym.envs.classic_control import rendering [as 别名]
# 或者: from gym.envs.classic_control.rendering import Transform [as 别名]
def render(self, mode='human'):
        from gym.envs.classic_control import rendering
        if self.viewer is None:
            self.viewer = rendering.Viewer(VIEWPORT_W, VIEWPORT_H)
        self.viewer.set_bounds(self.scroll, VIEWPORT_W/SCALE + self.scroll, 0, VIEWPORT_H/SCALE)

        self.viewer.draw_polygon( [
            (self.scroll,                  0),
            (self.scroll+VIEWPORT_W/SCALE, 0),
            (self.scroll+VIEWPORT_W/SCALE, VIEWPORT_H/SCALE),
            (self.scroll,                  VIEWPORT_H/SCALE),
            ], color=(0.9, 0.9, 1.0) )
        for poly,x1,x2 in self.cloud_poly:
            if x2 < self.scroll/2: continue
            if x1 > self.scroll/2 + VIEWPORT_W/SCALE: continue
            self.viewer.draw_polygon( [(p[0]+self.scroll/2, p[1]) for p in poly], color=(1,1,1))
        for poly, color in self.terrain_poly:
            if poly[1][0] < self.scroll: continue
            if poly[0][0] > self.scroll + VIEWPORT_W/SCALE: continue
            self.viewer.draw_polygon(poly, color=color)

        self.lidar_render = (self.lidar_render+1) % 100
        i = self.lidar_render
        if i < 2*len(self.lidar):
            l = self.lidar[i] if i < len(self.lidar) else self.lidar[len(self.lidar)-i-1]
            self.viewer.draw_polyline( [l.p1, l.p2], color=(1,0,0), linewidth=1 )

        for obj in self.drawlist:
            for f in obj.fixtures:
                trans = f.body.transform
                if type(f.shape) is circleShape:
                    t = rendering.Transform(translation=trans*f.shape.pos)
                    self.viewer.draw_circle(f.shape.radius, 30, color=obj.color1).add_attr(t)
                    self.viewer.draw_circle(f.shape.radius, 30, color=obj.color2, filled=False, linewidth=2).add_attr(t)
                else:
                    path = [trans*v for v in f.shape.vertices]
                    self.viewer.draw_polygon(path, color=obj.color1)
                    path.append(path[0])
                    self.viewer.draw_polyline(path, color=obj.color2, linewidth=2)

        flagy1 = TERRAIN_HEIGHT
        flagy2 = flagy1 + 50/SCALE
        x = TERRAIN_STEP*3
        self.viewer.draw_polyline( [(x, flagy1), (x, flagy2)], color=(0,0,0), linewidth=2 )
        f = [(x, flagy2), (x, flagy2-10/SCALE), (x+25/SCALE, flagy2-5/SCALE)]
        self.viewer.draw_polygon(f, color=(0.9,0.2,0) )
        self.viewer.draw_polyline(f + [f[0]], color=(0,0,0), linewidth=2 )

        return self.viewer.render(return_rgb_array = mode=='rgb_array') 

# 需要导入模块: from gym.envs.classic_control import rendering [as 别名]
# 或者: from gym.envs.classic_control.rendering import Transform [as 别名]
def render(self, mode='human'):
        screen_width = 600
        screen_height = 400

        world_width = self.max_position - self.min_position
        scale = screen_width/world_width
        carwidth=40
        carheight=20


        if self.viewer is None:
            from gym.envs.classic_control import rendering
            self.viewer = rendering.Viewer(screen_width, screen_height)
            xs = np.linspace(self.min_position, self.max_position, 100)
            ys = self._height(xs)
            xys = list(zip((xs-self.min_position)*scale, ys*scale))

            self.track = rendering.make_polyline(xys)
            self.track.set_linewidth(4)
            self.viewer.add_geom(self.track)

            clearance = 10

            l,r,t,b = -carwidth/2, carwidth/2, carheight, 0
            car = rendering.FilledPolygon([(l,b), (l,t), (r,t), (r,b)])
            car.add_attr(rendering.Transform(translation=(0, clearance)))
            self.cartrans = rendering.Transform()
            car.add_attr(self.cartrans)
            self.viewer.add_geom(car)
            frontwheel = rendering.make_circle(carheight/2.5)
            frontwheel.set_color(.5, .5, .5)
            frontwheel.add_attr(rendering.Transform(translation=(carwidth/4,clearance)))
            frontwheel.add_attr(self.cartrans)
            self.viewer.add_geom(frontwheel)
            backwheel = rendering.make_circle(carheight/2.5)
            backwheel.add_attr(rendering.Transform(translation=(-carwidth/4,clearance)))
            backwheel.add_attr(self.cartrans)
            backwheel.set_color(.5, .5, .5)
            self.viewer.add_geom(backwheel)
            flagx = (self.goal_position-self.min_position)*scale
            flagy1 = self._height(self.goal_position)*scale
            flagy2 = flagy1 + 50
            flagpole = rendering.Line((flagx, flagy1), (flagx, flagy2))
            self.viewer.add_geom(flagpole)
            flag = rendering.FilledPolygon([(flagx, flagy2), (flagx, flagy2-10), (flagx+25, flagy2-5)])
            flag.set_color(.8,.8,0)
            self.viewer.add_geom(flag)

        pos = self.state[0]
        self.cartrans.set_translation((pos-self.min_position)*scale, self._height(pos)*scale)
        self.cartrans.set_rotation(math.cos(3 * pos))

        return self.viewer.render(return_rgb_array = mode=='rgb_array') 

# 需要导入模块: from gym.envs.classic_control import rendering [as 别名]
# 或者: from gym.envs.classic_control.rendering import Transform [as 别名]
def render(self, mode='human', close=False):
		screen_width = 600
		screen_height = 400

		world_width = self.x_range*2
		scale = screen_width/world_width
		quadwidth = 80.0
		quadheight = 10.0
		ref_size = 5.0

		if self.viewer is None:
			from gym.envs.classic_control import rendering
			self.viewer = rendering.Viewer(screen_width, screen_height)
			# Draw drone
			l,r,t,b = -quadwidth/2, quadwidth/2, quadheight/2, -quadheight/2
			quad = rendering.FilledPolygon([(l,b), (l,t), (r,t), (r,b)])
			self.quadtrans = rendering.Transform()
			quad.add_attr(self.quadtrans)
			self.viewer.add_geom(quad)
			# Draw refereence
			ref = rendering.make_circle(ref_size)
			self.reftrans = rendering.Transform()
			ref.add_attr(self.reftrans)
			ref.set_color(1,0,0)
			self.viewer.add_geom(ref)

		if self.state is None: return None

		state = self.state
		x = np.array([state[0], state[1]]).flatten()
		theta = self.state[2]
		quad_x = x[0]*scale+screen_width/2.0 
		quad_y = x[1]*scale+screen_height/2.0 
		self.quadtrans.set_translation(quad_x, quad_y)
		self.quadtrans.set_rotation(theta)

		y = self.ref_pos
		ref_x = y[0]*scale+screen_width/2.0
		ref_y = y[1]*scale+screen_height/2.0
		self.reftrans.set_translation(ref_x, ref_y)

		return self.viewer.render(return_rgb_array = mode=='rgb_array') 

# 需要导入模块: from gym.envs.classic_control import rendering [as 别名]
# 或者: from gym.envs.classic_control.rendering import Transform [as 别名]
def _render(self, mode='human', close=False):
        if close:
            if self.viewer is not None:
                self.viewer.close()
                self.viewer = None
            return

        screen_width = 600
        screen_height = 400

        world_width = self.x_threshold*2
        scale = screen_width/world_width
        carty = 100 # TOP OF CART
        polewidth = 10.0
        polelen = scale * 1.0
        cartwidth = 50.0
        cartheight = 30.0

        if self.viewer is None:
            from gym.envs.classic_control import rendering
            self.viewer = rendering.Viewer(screen_width, screen_height)
            l,r,t,b = -cartwidth/2, cartwidth/2, cartheight/2, -cartheight/2
            axleoffset =cartheight/4.0
            cart = rendering.FilledPolygon([(l,b), (l,t), (r,t), (r,b)])
            self.carttrans = rendering.Transform()
            cart.add_attr(self.carttrans)
            self.viewer.add_geom(cart)
            l,r,t,b = -polewidth/2,polewidth/2,polelen-polewidth/2,-polewidth/2
            pole = rendering.FilledPolygon([(l,b), (l,t), (r,t), (r,b)])
            pole.set_color(.8,.6,.4)
            self.poletrans = rendering.Transform(translation=(0, axleoffset))
            pole.add_attr(self.poletrans)
            pole.add_attr(self.carttrans)
            self.viewer.add_geom(pole)
            self.axle = rendering.make_circle(polewidth/2)
            self.axle.add_attr(self.poletrans)
            self.axle.add_attr(self.carttrans)
            self.axle.set_color(.5,.5,.8)
            self.viewer.add_geom(self.axle)
            self.track = rendering.Line((0,carty), (screen_width,carty))
            self.track.set_color(0,0,0)
            self.viewer.add_geom(self.track)

        if self.state is None: return None

        x = self.state
        cartx = x[0]*scale+screen_width/2.0 # MIDDLE OF CART
        self.carttrans.set_translation(cartx, carty)
        self.poletrans.set_rotation(-x[2])

        return self.viewer.render(return_rgb_array = mode=='rgb_array') 

# 需要导入模块: from gym.envs.classic_control import rendering [as 别名]
# 或者: from gym.envs.classic_control.rendering import Transform [as 别名]
def render(self, mode='human'):
        screen_width = 600
        screen_height = 400

        world_width = self.x_threshold*2
        scale = screen_width/world_width
        carty = 100  # TOP OF CART
        polewidth = 10.0
        polelen = scale * (2 * self.length)
        cartwidth = 50.0
        cartheight = 30.0

        if self.viewer is None:
            from gym.envs.classic_control import rendering
            self.viewer = rendering.Viewer(screen_width, screen_height)
            l, r, t, b = -cartwidth/2, cartwidth/2, cartheight/2, -cartheight/2
            axleoffset = cartheight/4.0
            cart = rendering.FilledPolygon([(l, b), (l, t), (r, t), (r, b)])
            self.carttrans = rendering.Transform()
            cart.add_attr(self.carttrans)
            self.viewer.add_geom(cart)
            l, r, t, b = -polewidth/2, polewidth/2, polelen-polewidth/2, -polewidth/2
            pole = rendering.FilledPolygon([(l, b), (l, t), (r, t), (r, b)])
            pole.set_color(.8, .6, .4)
            self.poletrans = rendering.Transform(translation=(0, axleoffset))
            pole.add_attr(self.poletrans)
            pole.add_attr(self.carttrans)
            self.viewer.add_geom(pole)
            self.axle = rendering.make_circle(polewidth/2)
            self.axle.add_attr(self.poletrans)
            self.axle.add_attr(self.carttrans)
            self.axle.set_color(.5, .5, .8)
            self.viewer.add_geom(self.axle)
            self.track = rendering.Line((0, carty), (screen_width, carty))
            self.track.set_color(0, 0, 0)
            self.viewer.add_geom(self.track)

            self._pole_geom = pole

        if self.state is None:
            return None

        # Edit the pole polygon vertex
        pole = self._pole_geom
        l, r, t, b = -polewidth/2, polewidth/2, polelen-polewidth/2, -polewidth/2
        pole.v = [(l, b), (l, t), (r, t), (r, b)]

        x = self.state
        cartx = x[0]*scale+screen_width/2.0  # MIDDLE OF CART
        self.carttrans.set_translation(cartx, carty)
        self.poletrans.set_rotation(-x[2])

        return self.viewer.render(return_rgb_array=mode == 'rgb_array') 

# 需要导入模块: from gym.envs.classic_control import rendering [as 别名]
# 或者: from gym.envs.classic_control.rendering import Transform [as 别名]
def render(self, mode="human"):
        screen_width = 600
        screen_height = 400

        world_width = self.x_threshold * 2
        scale = screen_width / world_width
        carty = 100  # TOP OF CART
        polewidth = 10.0
        polelen = scale * 1.0
        cartwidth = 50.0
        cartheight = 30.0

        if self.viewer is None:
            from gym.envs.classic_control import rendering
            self.viewer = rendering.Viewer(screen_width, screen_height)
            l, r, t, b = (-cartwidth / 2, cartwidth / 2, cartheight / 2,
                          -cartheight / 2)
            axleoffset = cartheight / 4.0
            cart = rendering.FilledPolygon([(l, b), (l, t), (r, t), (r, b)])
            self.carttrans = rendering.Transform()
            cart.add_attr(self.carttrans)
            self.viewer.add_geom(cart)
            l, r, t, b = (-polewidth / 2, polewidth / 2,
                          polelen - polewidth / 2, -polewidth / 2)
            pole = rendering.FilledPolygon([(l, b), (l, t), (r, t), (r, b)])
            pole.set_color(.8, .6, .4)
            self.poletrans = rendering.Transform(translation=(0, axleoffset))
            pole.add_attr(self.poletrans)
            pole.add_attr(self.carttrans)
            self.viewer.add_geom(pole)
            self.axle = rendering.make_circle(polewidth / 2)
            self.axle.add_attr(self.poletrans)
            self.axle.add_attr(self.carttrans)
            self.axle.set_color(.5, .5, .8)
            self.viewer.add_geom(self.axle)
            self.track = rendering.Line((0, carty), (screen_width, carty))
            self.track.set_color(0, 0, 0)
            self.viewer.add_geom(self.track)

        if self.state is None:
            return None

        x = self.state
        cartx = x[0] * scale + screen_width / 2.0  # MIDDLE OF CART
        self.carttrans.set_translation(cartx, carty)
        self.poletrans.set_rotation(-x[2])

        return self.viewer.render(return_rgb_array=mode == "rgb_array") 

# 需要导入模块: from gym.envs.classic_control import rendering [as 别名]
# 或者: from gym.envs.classic_control.rendering import Transform [as 别名]
def display(self, mode='human'):
        screen_width = 600
        screen_height = 400

        world_width = self.max_position - self.min_position
        scale = screen_width / world_width
        carwidth = 40
        carheight = 20

        if self.viewer is None:
            from gym.envs.classic_control import rendering
            self.viewer = rendering.Viewer(screen_width, screen_height)
            xs = np.linspace(self.min_position, self.max_position, 100)
            ys = self._height(xs)
            xys = list(zip((xs - self.min_position) * scale, ys * scale))

            self.track = rendering.make_polyline(xys)
            self.track.set_linewidth(4)
            self.viewer.add_geom(self.track)

            clearance = 10

            l, r, t, b = -carwidth / 2, carwidth / 2, carheight, 0
            car = rendering.FilledPolygon([(l, b), (l, t), (r, t), (r, b)])
            car.add_attr(rendering.Transform(translation=(0, clearance)))
            self.cartrans = rendering.Transform()
            car.add_attr(self.cartrans)
            self.viewer.add_geom(car)
            frontwheel = rendering.make_circle(carheight / 2.5)
            frontwheel.set_color(.5, .5, .5)
            frontwheel.add_attr(rendering.Transform(translation=(carwidth / 4, clearance)))
            frontwheel.add_attr(self.cartrans)
            self.viewer.add_geom(frontwheel)
            backwheel = rendering.make_circle(carheight / 2.5)
            backwheel.add_attr(rendering.Transform(translation=(-carwidth / 4, clearance)))
            backwheel.add_attr(self.cartrans)
            backwheel.set_color(.5, .5, .5)
            self.viewer.add_geom(backwheel)
            flagx = (self.goal_position - self.min_position) * scale
            flagy1 = self._height(self.goal_position) * scale
            flagy2 = flagy1 + 50
            flagpole = rendering.Line((flagx, flagy1), (flagx, flagy2))
            self.viewer.add_geom(flagpole)
            flag = rendering.FilledPolygon([(flagx, flagy2), (flagx, flagy2 - 10), (flagx + 25, flagy2 - 5)])
            flag.set_color(.8, .8, 0)
            self.viewer.add_geom(flag)

        pos = self.state[0]
        self.cartrans.set_translation((pos - self.min_position) * scale, self._height(pos) * scale)
        self.cartrans.set_rotation(math.cos(3 * pos))

        return self.viewer.render(return_rgb_array=mode == 'rgb_array')