From a126c91d6f625a6413d42d50d186fbc9424b7022 Mon Sep 17 00:00:00 2001
From: Frank <frank@skyd.io>
Date: Tue, 26 Jan 2016 13:19:25 -0800
Subject: [PATCH] Skeleton with interactive plotting

---
 python/gtsam_examples/ImuFactorExample.py | 34 +++++++++++++++++++++++
 1 file changed, 34 insertions(+)
 create mode 100644 python/gtsam_examples/ImuFactorExample.py

diff --git a/python/gtsam_examples/ImuFactorExample.py b/python/gtsam_examples/ImuFactorExample.py
new file mode 100644
index 000000000..04a7a0661
--- /dev/null
+++ b/python/gtsam_examples/ImuFactorExample.py
@@ -0,0 +1,34 @@
+"""
+A script validating the ImuFactor prediction and inference.
+"""
+
+from __future__ import print_function
+import matplotlib.pyplot as plt
+import numpy as np
+
+class ImuFactorExample(object):
+
+    def __init__(self):
+        plt.figure(1)
+        plt.ion()
+
+    def plot(self):
+        times = np.arange(0, 10, 0.1)
+        shape = len(times), 1
+        labels = list('xyz')
+        colors = list('rgb')
+        plt.clf()
+        for row, (label, color) in enumerate(zip(labels, colors)):
+            plt.subplot(3, 1, row)
+            imu = np.random.randn(len(times), 1)
+            plt.plot(times, imu, color=color)
+#             plt.axis([tmin, tmax, min,max])
+            plt.xlabel(label)
+        plt.pause(0.1)
+
+    def run(self):
+        for i in range(100):
+            self.plot()
+
+if __name__ == '__main__':
+    ImuFactorExample().run()