Visualization

Verse has two different sets of visualization functions for generating plots and animations. Functions for 2D plots use Plotly Open Source Graphing Library for Python.

Common paramteres

  • time_step determines the num of digits of time points. Normally, it should be the time step used to compute simulation/verification. Default value is None which is set as 3.

2D Visualization

simulation_tree

Shows simulation traces, possibly with multiple brances.

Note: Since the plotter functions have similar APIs, in this document, we treat this function as a base function. Its parameters are general and occurred in all remaining functions. We will omit them in the remaining functions and only list some specific parameters.

Usage:

simulation_tree(root, map=None, fig=go.Figure(), x_dim = 1, y_dim = 2, print_dim_list=None, map_type='lines', scale_type='trace', label_mode='None', sample_rate=1)

Parameters:

  • root: root node of a simulation trace. Typically, return value of Scenario.simulate().

  • map: the map of the scenario plotted as a background. Use None if there is no map. You may check tutorial for more details.

  • fig: figure object of type plotly.graph_objects.Figure().

  • x_dim: the dimension of x coordinate in the trace list of every time step. The default value is 1.

  • y_dim: the dimension of y coordinate in the trace list of every time step. The default value is 2.

  • print_dim_list the list containing the dimensions of data which will be shown directly or indirectly when the mouse hovers on the point. The default value is None. And then all dimensions will be shown.

  • map_type the way to draw the map. It should be 'lines' or 'fill' or 'detailed'. The default value is 'lines'.

    • For the 'lines' mode, map is only drawn by margins of lanes.

    • For the 'fill' mode, the lanes will be filled with semitransparent colors.

    • For the 'detailed' mode, the lanes will be filled some colors according to the speed limits of lanes(if the information is given). Otherwise, it is the same as the ‘lines’ mode.

  • scale_type the way to scale the coordinate axises. It should be 'trace' or 'map'. The default value is 'trace'.

    • For the 'trace' mode, the traces will be in the center of the plot with an appropriate scale.

    • For the 'map' mode, the map will be in the center of the plot with an appropriate scale.

  • label_mode the mode to display labels which indicate mode transitions or not. The default value is 'None'.

    • If it is 'None', then labels will not be displayed.

    • Otherwise, labels will be displayed.

  • sample_rate it determines the points used in the plot. It is useful when the points are too much and the response of the plot is slow. The default value is 1.

    • If sample_rate = n where n is a positive integer, then the plotter samples one point for every n points.

simulation_anime

It shows the animation of the simulation with/without trail.

Usage:

simulation_anime(root, map=None, fig=go.Figure(), x_dim = 1, y_dim = 2, print_dim_list=None, map_type='lines', scale_type='trace', label_mode='None', sample_rate=1, time_step=None, speed_rate=1, anime_mode='normal', full_trace=False)

Parameters not occurred in simulation_tree:

  • time_step it is used to determine the num of digits of time points. Normally, it should be the time step of simulation/verification and provoided by the user. (May improve to auto determine) The default value is None.

    • If it’s None, then the num of digits is set as 3.

    • Otherwise, the num of digits is set as the num of digits of the given time_step.

  • speed_rate it determines the speed up rate of anime. Due to the performance, it maybe be limited when the response of the plot is slow. The default value is 1.

  • anime_mode it determines if the trails are displayed or not. The default value is 'normal'.

    • If it’s 'normal', then the trails will not be displayed.

    • Otherwise, the trails will be displayed.

  • full_trace it determines if the full trace is displayed or not. The default value is False.

    • if it’s False, then the full trace will not be displayed.

    • Otherwise, the full trace will be displayed.

reachtube_tree

It statically shows the reachtubes, possibly with multiple brances.

Usage:

reachtube_tree(root, map=None, fig=go.Figure(), x_dim = 1, y_dim = 2, print_dim_list=None, map_type='lines', scale_type='trace', label_mode='None', sample_rate=1, combine_rect=1):

Parameters not occurred in simulation_tree:

  • combine_rect it determines the way of displaying reachtube. Specifically, it can combine specified number of reachtubes as a rectangle. The default value is 1 here.

reachtube_anime

It shows the animation of the reachtube.

Usage:

reachtube_anime(root, map=None, fig=go.Figure(), x_dim = 1, y_dim = 2, print_dim_list=None, map_type='lines', scale_type='trace', label_mode='None', sample_rate=1, time_step=None, speed_rate=1, combine_rect=None)

Parameters not occurred in simulation_tree:

  • speed_rate it determines the speed up rate of anime. Due to the performance, it maybe be limited when the response of the plot is slow. The default value is 1.

  • combine_rect it determines the way of displaying reachtube. Specifically, it can combine specified number of reachtubes as a rectangle. The default value is None here, which means no combination.

3D Visualization