[Issue-126] fix several issues with animate

Author: jcao-bdai

spatialmath/base/animate.py

@@ -309,7 +309,7 @@ def __init__(self, anim: Animate, h, xs, ys, zs):
             self.anim = anim
 
         def draw(self, T):
-            p = T.A @ self.p
+            p = T @ self.p
             self.h.set_data(p[0, :], p[1, :])
             self.h.set_3d_properties(p[2, :])
 
@@ -367,7 +367,7 @@ def __init__(self, anim, h):
 
         def draw(self, T):
             # import ipdb; ipdb.set_trace()
-            p = T.A @ self.p
+            p = T @ self.p
 
             # reshape it
             p = p[0:3, :].T.reshape(3, 2, 3)
@@ -421,7 +421,7 @@ def __init__(self, anim, h, x, y, z):
             self.anim = anim
 
         def draw(self, T):
-            p = T.A @ self.p
+            p = T @ self.p
             # x2, y2, _ = proj3d.proj_transform(
             #   p[0], p[1], p[2], self.anim.ax.get_proj())
             # self.h.set_position((x2, y2))
@@ -546,8 +546,6 @@ def __init__(
             axes.set_xlim(dims[0:2])
             axes.set_ylim(dims[2:4])
             # ax.set_aspect('equal')
-        else:
-            axes.autoscale(enable=True, axis="both")
 
         self.ax = axes
 

spatialmath/base/transforms2d.py

@@ -1510,12 +1510,9 @@ def tranimate2(T: Union[SO2Array, SE2Array], **kwargs):
                 tranimate2(transl(1,2)@trot2(1), frame='A', arrow=False, dims=[0, 5])
                 tranimate2(transl(1,2)@trot2(1), frame='A', arrow=False, dims=[0, 5], movie='spin.mp4')
         """
-        anim = smb.animate.Animate2(**kwargs)
-        try:
-            del kwargs["dims"]
-        except KeyError:
-            pass
-
+        dims = kwargs.pop("dims", None)
+        ax = kwargs.pop("ax", None)
+        anim = smb.animate.Animate2(dims=dims, axes=ax, **kwargs)
         anim.trplot2(T, **kwargs)
         return anim.run(**kwargs)
 

spatialmath/base/transforms3d.py

@@ -3409,12 +3409,9 @@ def tranimate(T: Union[SO3Array, SE3Array], **kwargs) -> str:
 
         :seealso: `trplot`, `plotvol3`
         """
-        anim = Animate(**kwargs)
-        try:
-            del kwargs["dims"]
-        except KeyError:
-            pass
-
+        dim = kwargs.pop("dims", None)
+        ax = kwargs.pop("ax", None)
+        anim = Animate(dim=dim, ax=ax, **kwargs)
         anim.trplot(T, **kwargs)
         return anim.run(**kwargs)