def plot_start_goal_arrow(self):
"""
PLOT_START_GOAL_ARROW is a helper function used in DRAW_GRAPH function
"""
dubins_path_planning.plot_arrow(self.start.x, self.start.y,
self.start.yaw)
dubins_path_planning.plot_arrow(self.goal.x, self.goal.y,
self.goal.yaw)
def DrawGraph(self, rnd=None):
plt.clf()
if rnd is not None:
plt.plot(rnd[0], rnd[1], "^k")
for node in self.nodeList:
if node.parent is not None:
plt.plot(node.path_x, node.path_y, "-g")
for (ox, oy, size) in self.obstacleList:
plt.plot(ox, oy, "ok", ms=30 * size)
dubins_path_planning.plot_arrow(self.start.x, self.start.y,
self.start.yaw)
dubins_path_planning.plot_arrow(self.end.x, self.end.y, self.end.yaw)
plt.axis([-2, 15, -2, 15])
plt.grid(True)
plt.pause(0.01)
def DrawGraph(self, rnd=None): # pragma: no cover
plt.clf()
if rnd is not None:
plt.plot(rnd[0], rnd[1], "^k")
for node in self.nodeList:
if node.parent is not None:
plt.plot(node.path_x, node.path_y, "-g")
for (ox, oy, size) in self.obstacleList:
plt.plot(ox, oy, "ok", ms=30 * size)
dubins_path_planning.plot_arrow(
self.start.x, self.start.y, self.start.yaw)
dubins_path_planning.plot_arrow(
self.end.x, self.end.y, self.end.yaw)
plt.axis([-2, 15, -2, 15])
plt.grid(True)
plt.pause(0.01)
def DrawGraph(self, rnd=None):
u"""
Draw Graph
"""
import matplotlib.pyplot as plt
plt.clf()
if rnd is not None:
plt.plot(rnd[0], rnd[1], "^k")
for node in self.nodeList:
if node.parent is not None:
plt.plot(node.path_x, node.path_y, "-g")
for (ox, oy, size) in obstacleList:
plt.plot(ox, oy, "ok", ms=30 * size)
dubins_path_planning.plot_arrow(self.start.x, self.start.y,
self.start.yaw)
dubins_path_planning.plot_arrow(self.end.x, self.end.y, self.end.yaw)
plt.axis([-2, 15, -2, 15])
plt.grid(True)
plt.pause(0.01)
matplotrecorder.save_frame() # save each frame
def DrawGraph(self, rnd=None):
u"""
Draw Graph
"""
plt.clf()
if rnd is not None:
plt.plot(rnd.x, rnd.y, "^k")
for node in self.nodeList:
if node.parent is not None:
plt.plot(node.path_x, node.path_y, "-g")
# plt.plot([node.x, self.nodeList[node.parent].x], [
# node.y, self.nodeList[node.parent].y], "-g")
for (ox, oy, size) in self.obstacleList:
plt.plot(ox, oy, "ok", ms=30 * size)
dubins_path_planning.plot_arrow(
self.start.x, self.start.y, self.start.yaw)
dubins_path_planning.plot_arrow(
self.end.x, self.end.y, self.end.yaw)
plt.axis([-2, 15, -2, 15])
plt.grid(True)
plt.pause(0.01)
def plot_start_goal_arrow(self): # pragma: no cover
dubins_path_planning.plot_arrow(self.start.x, self.start.y,
self.start.yaw)
dubins_path_planning.plot_arrow(self.end.x, self.end.y, self.end.yaw)
def plot_start_goal_arrow(self):
dubins_path_planning.plot_arrow(self.start.x, self.start.y,
self.start.yaw)
dubins_path_planning.plot_arrow(self.end.x, self.end.y, self.end.yaw)
