def plot_trees(self, rand=None):
u"""
Draw Graph
"""
plt.clf()
# plt.close() will close the figure window entirely,
# where plt.clf() will just clear the figure - you can still paint another plot onto it.
if rand is not None:
plt.plot(rand.x, rand.y, "^k")
for node in self.nodeList:
if node.parent is not None:
plt.plot(node.path_x, node.path_y, "-b")
for (ox, oy, size) in self.obstacleList:
plt.plot(ox, oy, "ok", ms=30 * size)
dubins_path.marker(
self.start.x, self.start.y, self.start.yaw)
dubins_path.marker(
self.end.x, self.end.y, self.end.yaw)
plt.axis([-40, 40, -40, 40])
plt.grid(True)
plt.pause(0.01)
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.marker(self.start.x, self.start.y, self.start.yaw)
dubins_path.marker(self.end.x, self.end.y, self.end.yaw)
plt.axis([-2, 15, -2, 15])
plt.grid(True)
plt.pause(0.01)