consistent changes to semantics of block. Can be None, False or True

Author: petercorke

roboticstoolbox/mobile/EKF.py

@@ -1000,13 +1000,13 @@ def get_xyt(self):
             xyt = None
         return xyt
 
-    def plot_xy(self, *args, block=False, **kwargs):
+    def plot_xy(self, *args, block=None, **kwargs):
         """
         Plot estimated vehicle position
 
         :param args: position arguments passed to :meth:`~matplotlib.axes.Axes.plot`
         :param kwargs: keywords arguments passed to :meth:`~matplotlib.axes.Axes.plot`
-        :param block: hold plot until figure is closed, defaults to False
+        :param block: hold plot until figure is closed, defaults to None
         :type block: bool, optional
 
         Plot the estimated vehicle path in the xy-plane.
@@ -1018,16 +1018,19 @@ def plot_xy(self, *args, block=False, **kwargs):
             kwargs["color"] = "r"
         xyt = self.get_xyt()
         plt.plot(xyt[:, 0], xyt[:, 1], *args, **kwargs)
-        # plt.show(block=block)
+        if block is not None:
+            plt.show(block=block)
 
-    def plot_ellipse(self, confidence=0.95, N=10, **kwargs):
+    def plot_ellipse(self, confidence=0.95, N=10, block=None, **kwargs):
         """
         Plot uncertainty ellipses
 
         :param confidence: ellipse confidence interval, defaults to 0.95
         :type confidence: float, optional
         :param N: number of ellipses to plot, defaults to 10
         :type N: int, optional
+        :param block: hold plot until figure is closed, defaults to None
+        :type block: bool, optional
         :param kwargs: arguments passed to :meth:`spatialmath.base.graphics.plot_ellipse`
 
         Plot ``N`` uncertainty ellipses spaced evenly along the trajectory.
@@ -1062,15 +1065,19 @@ def plot_ellipse(self, confidence=0.95, N=10, **kwargs):
                     inverted=True,
                     **kwargs,
                 )
+        if block is not None:
+            plt.show(block=block)
 
-    def plot_error(self, bgcolor="r", confidence=0.95, ax=None, **kwargs):
+    def plot_error(self, bgcolor="r", confidence=0.95, ax=None, block=None, **kwargs):
         r"""
         Plot error with uncertainty bounds
 
         :param bgcolor: background color, defaults to 'r'
         :type bgcolor: str, optional
         :param confidence: confidence interval, defaults to 0.95
         :type confidence: float, optional
+        :param block: hold plot until figure is closed, defaults to None
+        :type block: bool, optional
 
         Plot the error between actual and estimated vehicle
         path :math:`(x, y, \theta)`` versus time as three stacked plots.
@@ -1128,6 +1135,9 @@ def plot_error(self, bgcolor="r", confidence=0.95, ax=None, **kwargs):
             ax.set_ylabel(labels[k] + " error")
             ax.set_xlim(0, t[-1])
 
+        if block is not None:
+            plt.show(block=block)
+
         # subplot(opt.nplots*100+12)
         # if opt.confidence
         #     edge = [pxy(:,2); -pxy(end:-1:1,2)];
@@ -1176,7 +1186,7 @@ def get_map(self):
             xy.append(xf)
         return np.array(xy)
 
-    def plot_map(self, marker=None, ellipse=None, confidence=0.95):
+    def plot_map(self, marker=None, ellipse=None, confidence=0.95, block=None):
         """
         Plot estimated landmarks
 
@@ -1186,6 +1196,8 @@ def plot_map(self, marker=None, ellipse=None, confidence=0.95):
         :type ellipse: dict, optional
         :param confidence: ellipse confidence interval, defaults to 0.95
         :type confidence: float, optional
+        :param block: hold plot until figure is closed, defaults to None
+        :type block: bool, optional
 
         Plot a marker  and covariance ellipses for each estimated landmark.
 
@@ -1232,6 +1244,8 @@ def plot_map(self, marker=None, ellipse=None, confidence=0.95):
                         **ellipse,
                     )
         # plot_ellipse( P * chi2inv_rtb(opt.confidence, 2), xf, args{:});
+        if block is not None:
+            plt.show(block=block)
 
     def get_P(self, k=None):
         """

roboticstoolbox/mobile/OccGrid.py

@@ -258,7 +258,7 @@ def w2g(self, p):
         """
         return (np.round((p - self._origin) / self._cellsize)).astype(int)
 
-    def plot(self, map=None, ax=None, block=False, **kwargs):
+    def plot(self, map=None, ax=None, block=None, **kwargs):
         """
         Plot the occupancy grid (superclass)
 
@@ -267,7 +267,7 @@ def plot(self, map=None, ax=None, block=False, **kwargs):
         :type map: ndarray(N,M), optional
         :param ax: matplotlib axes to plot into, defaults to None
         :type ax: Axes2D, optional
-        :param block: block until plot is dismissed, defaults to False
+        :param block: block until plot is dismissed, defaults to None
         :type block: bool, optional
         :param kwargs: arguments passed to ``imshow``
 
@@ -288,7 +288,8 @@ def plot(self, map=None, ax=None, block=False, **kwargs):
         ax.imshow(map, origin="lower", interpolation=None, **kwargs)
         ax.set_xlabel("x")
         ax.set_ylabel("y")
-        plt.show(block=block)
+        if block is not None:
+            plt.show(block=block)
 
     def line_w(self, p1, p2):
         """
@@ -518,13 +519,14 @@ def iscollision(self, polygon):
         """
         return polygon.intersects(self.polygons)
 
-    def plot(self, block=False):
+    def plot(self, block=None):
         base.plotvol2(self.workspace)
 
         for polygon in self.polygons:
             polygon.plot(color="r")
 
-        plt.show(block=block)
+        if block is not None:
+            plt.show(block=block)
 
     def isoccupied(self, p):
         """

roboticstoolbox/mobile/ParticleFilter.py

@@ -501,13 +501,13 @@ def get_std(self):
         """
         return np.array([h.std for h in self._history])
 
-    def plot_xy(self, block=False, **kwargs):
+    def plot_xy(self, block=None, **kwargs):
         r"""
         Plot estimated vehicle position
 
         :param args: position arguments passed to :meth:`~matplotlib.axes.Axes.plot`
         :param kwargs: keywords arguments passed to :meth:`~matplotlib.axes.Axes.plot`
-        :param block: hold plot until figure is closed, defaults to False
+        :param block: hold plot until figure is closed, defaults to None
         :type block: bool, optional
 
         Plot the estimated vehicle path in the xy-plane.
@@ -516,4 +516,5 @@ def plot_xy(self, block=False, **kwargs):
         """
         xyt = self.get_xyt()
         plt.plot(xyt[:, 0], xyt[:, 1], **kwargs)
-        # plt.show(block=block)
+        if block is not None:
+            plt.show(block=block)

roboticstoolbox/mobile/PoseGraph.py

@@ -386,7 +386,7 @@ def w2g(self, w):
     def g2w(self, g):
         return (np.r_[g] - self._ngrid / 2) * self._cellsize + self._centre
 
-    def plot_occgrid(self, w, block=True):
+    def plot_occgrid(self, w, block=None):
 
         bl = self.g2w([0, 0])
         tr = self.g2w([w.shape[1], w.shape[0]])
@@ -399,7 +399,9 @@ def plot_occgrid(self, w, block=True):
         plt.imshow(w, cmap="gray", extent=[bl[0], tr[0], bl[1], tr[1]])
         plt.xlabel("x")
         plt.ylabel("y")
-        plt.show(block=block)
+
+        if block is not None:
+            plt.show(block=block)
 
     # The following methods were inspired by, and modeled on, the MATLAB/Octave file
     # ls-slam.m by Giorgio Grisetti and Gian Diego Tipaldi.

roboticstoolbox/mobile/Vehicle.py

@@ -792,11 +792,11 @@ def stopsim(self):
     #     vertices = np.array(vertices).T
     #     base.plot_poly(SE2(x) * vertices, close=True, **kwargs)
 
-    def plot_xy(self, *args, block=False, **kwargs):
+    def plot_xy(self, *args, block=None, **kwargs):
         """
         Plot xy-path from history
 
-        :param block: block until plot dismissed, defaults to False
+        :param block: block until plot dismissed, defaults to None
         :type block: bool, optional
         :param args: positional arguments passed to :meth:`~matplotlib.axes.Axes.plot`
         :param kwargs: keyword arguments passed to :meth:`~matplotlib.axes.Axes.plot`
@@ -811,9 +811,10 @@ def plot_xy(self, *args, block=False, **kwargs):
             kwargs['color'] = 'b'
         xyt = self.x_hist
         plt.plot(xyt[:, 0], xyt[:, 1], *args, **kwargs)
-        plt.show(block=block)
+        if block is not None:
+            plt.show(block=block)
 
-    def plot_xyt(self, block=False, **kwargs):
+    def plot_xyt(self, block=None, **kwargs):
         """
         Plot configuration vs time from history
 
@@ -829,10 +830,10 @@ def plot_xyt(self, block=False, **kwargs):
         """
         xyt = self.x_hist
         t = np.arange(0, xyt.shape[0] * self._dt, self._dt)
-        plt.plot(xyt[:,0], xyt[:, :], **kwargs)
-        plt.legend(['x', 'y', '$\\theta$'])
-        plt.show(block=block)
-
+        plt.plot(xyt[:, 0], xyt[:, :], **kwargs)
+        plt.legend(["x", "y", "$\\theta$"])
+        if block is not None:
+            plt.show(block=block)
 
     # def path(self, t=10, u=None, x0=None):
     #     """