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)