def plot_robot(self):
plot = Plot(self.plot_data)
plot.range2d.x_range = self.x_range
plot.range2d.y_range = self.y_range
plot.x_mapper = LinearMapper(range=self.x_range)
plot.y_mapper = LinearMapper(range=self.y_range)
plot.title = "robot"
plot.plot(('robot_x', 'robot_y'),
type='polygon',
marker='dot',
marker_size=1.0,
color=(0, 0, 0, 0.8))
wheel_outline_color = (0, 0, 0, 1.0)
wheel_color = (0, 0, 0, 0.8)
plot.plot(('wheel_bl_x', 'wheel_bl_y'),
type='polygon',
marker='dot',
marker_size=1.0,
face_color=wheel_color,
color=wheel_outline_color)
plot.plot(('wheel_br_x', 'wheel_br_y'),
type='polygon',
marker='dot',
marker_size=1.0,
face_color=wheel_color,
color=wheel_outline_color)
plot.plot(('wheel_tr_x', 'wheel_tr_y'),
type='polygon',
marker='dot',
marker_size=1.0,
face_color=wheel_color,
color=wheel_outline_color)
plot.plot(('wheel_tl_x', 'wheel_tl_y'),
type='polygon',
marker='dot',
marker_size=1.0,
face_color=wheel_color,
color=wheel_outline_color)
return plot
