commit add8fa398e406286bf410c17ef37a3af74d98a2d
author milind-u <milind.upadhyay@gmail.com> Fri Feb 24 23:37:36 2023 -0800
committer Milind Upadhyay <milind.upadhyay@gmail.com> Sat Feb 25 15:22:01 2023 -0800
tree d03640e243615663689cd225274f06b5bbab9be6
parent 2a28c595e14f5dff08804632f20c681aab341603

Add plots for all joints in arm ui

Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: Ib0e1ad0383d66e54344bcaf6ca5c45d23daad32c

y2023/control_loops/python/graph_tools.py

diff --git a/y2023/control_loops/python/graph_tools.py b/y2023/control_loops/python/graph_tools.py
index db703da..769c7b3 100644
--- a/y2023/control_loops/python/graph_tools.py
+++ b/y2023/control_loops/python/graph_tools.py
@@ -357,7 +357,7 @@
         pass
 
     @abc.abstractmethod
-    def roll_joint_thetas(self):
+    def joint_thetas(self):
         pass
 
     @abc.abstractmethod
@@ -490,12 +490,16 @@
     def get_controls_theta(self):
         return (self.start, self.control1, self.control2, self.end)
 
-    def roll_joint_thetas(self):
+    def joint_thetas(self):
         ts = []
-        thetas = []
+        thetas = [[], [], []]
         for alpha in subdivide_multistep():
+            proximal, distal = spline_eval(self.start, self.control1,
+                                           self.control2, self.end, alpha)
             roll_joint = get_roll_joint_theta_multistep(
                 self.alpha_rolls, alpha)
-            thetas.append(roll_joint)
+            thetas[0].append(proximal)
+            thetas[1].append(distal)
+            thetas[2].append(roll_joint)
             ts.append(alpha)
         return ts, thetas