added tranimate to unit tests

petercorke · petercorke · commit 28513e1e4a64 · 2020-05-25T18:50:08.000+10:00
diff --git a/spatialmath/base/animate.py b/spatialmath/base/animate.py
@@ -111,7 +111,7 @@ def trplot(self, T, **kwargs):
         # draw axes at the origin
         tr.trplot(np.eye(4), axes=self, **kwargs)
 
-    def run(self, movie=None, axes=None, repeat=True, interval=50, nframes=100, **kwargs):
+    def run(self, movie=None, axes=None, repeat=True, interval=50, nframes=100, pause=None, **kwargs):
         """
         Run the animation
 
@@ -145,7 +145,12 @@ def update(frame, a):
         ani = animation.FuncAnimation(fig=plt.gcf(), func=update, frames=range(0, nframes), fargs=(self,), blit=False, interval=interval, repeat=repeat)
 
         if movie is None:
-            plt.show()
+
+            if pause is None:
+                plt.show()
+            else:
+                plt.pause(pause)
+            
         else:
             # Set up formatting for the movie files
             print('creating movie', movie)
diff --git a/spatialmath/base/test_transforms.py b/spatialmath/base/test_transforms.py
@@ -780,6 +780,10 @@ def test_plot(self):
         trplot(transl(3, 1, 2), color='red', width=3, frame='B')
         trplot(transl(4, 3, 1)@trotx(math.pi / 3), color='green', frame='c', dims=[0, 4, 0, 4, 0, 4])
 
+        plt.clf()
+        tranimate(transl(1, 2, 3), repeat=False, pause=2)
+        # run again, with axes already created
+        tranimate(transl(1, 2, 3), repeat=False, pause=2, dims=[0, 10, 0, 10, 0, 10])
 
 class TestLie(unittest.TestCase):
 
