plot_widget.py

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#!/usr/bin/env python
from python_qt_binding.QtCore import Slot, Qt, QTimer, qWarning, Signal
from python_qt_binding.QtGui import QColor
from python_qt_binding.QtWidgets import QWidget, QVBoxLayout, QSizePolicy
from python_qt_binding import QT_BINDING_VERSION
from distutils.version import LooseVersion
from matplotlib.figure import Figure
import operator
import numpy as np
import copy
import threading
import rospy
from trajectory_msgs.msg import JointTrajectory
if LooseVersion(QT_BINDING_VERSION) >= LooseVersion('5.0.0'):
    from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
else:
    from matplotlib.backends.backend_qt4agg import FigureCanvasQTAgg as FigureCanvas


class PlotCanvas(FigureCanvas):
    def __init__(self):
        super(PlotCanvas, self).__init__(Figure())
        self.axes = self.figure.add_subplot(111)
        self.axes.grid(True, color='gray')
        self.figure.tight_layout()
        self.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
        self.updateGeometry()


class PlotWidget(QWidget):
    def __init__(self, parent=None):
        super(PlotWidget, self).__init__(parent)
        # create widgets
        self.canvas = PlotCanvas()
        vbox = QVBoxLayout()
        vbox.addWidget(self.canvas)
        self.setLayout(vbox)

    def draw_curves(self, curve_names, data):
        self.canvas.axes.clear()
        self.canvas.axes.grid(True, color='gray')
        for name in curve_names:
            xdata, ydata = data[name]
            self.canvas.axes.plot(xdata, ydata, 'o-', label=name)[0]
        self.update_legend()
        self.canvas.draw()

    def update_legend(self):
        handles, labels = self.canvas.axes.get_legend_handles_labels()
        self.canvas.axes.legend(handles, labels, loc='upper left')