def showDomain(self, a):
s = self.state
# Plot the car
x, y, speed, heading = s
car_xmin = x - self.REAR_WHEEL_RELATIVE_LOC
car_ymin = y - self.CAR_WIDTH / 2.
if self.domain_fig is None: # Need to initialize the figure
self.domain_fig = plt.figure()
# Goal
plt.gca().add_patch(
plt.Circle(self.GOAL,
radius=self.GOAL_RADIUS,
color='g',
alpha=.4))
plt.xlim([self.XMIN, self.XMAX])
plt.ylim([self.YMIN, self.YMAX])
plt.gca().set_aspect('1')
# Car
if self.car_fig is not None:
plt.gca().patches.remove(self.car_fig)
self.car_fig = mpatches.Rectangle([car_xmin, car_ymin],
self.CAR_LENGTH,
self.CAR_WIDTH,
alpha=.4)
rotation = mpl.transforms.Affine2D().rotate_deg_around(
x, y, heading * 180 / np.pi) + plt.gca().transData
self.car_fig.set_transform(rotation)
plt.gca().add_patch(self.car_fig)
plt.draw()
def showStateDistribution(self, all_state_list, colors):
## HACKY - WILL NEED TO CLEAN UP
if self.gcf is None:
self.gcf = plt.gcf()
plt.gca().add_patch(
plt.Circle(self.GOAL, radius=self.GOAL_RADIUS, color='g',
alpha=.4))
plt.xlim([self.XMIN, self.XMAX])
plt.ylim([self.YMIN, self.YMAX])
plt.gca().set_aspect('1')
for state_list, color in zip(all_state_list, colors):
for state in state_list:
plt.gca().add_patch(
plt.Circle(state[:2], radius=0.01, color=color, alpha=.4))
plt.draw()
self.gcf.canvas.draw()
def showDomain(self, a):
if self.gcf is None:
self.gcf = plt.gcf()
s = self.state
# Plot the car
x, y, speed, heading = s
car_xmin = x - self.REAR_WHEEL_RELATIVE_LOC
car_ymin = y - self.CAR_WIDTH / 2.
if self.domain_fig is None: # Need to initialize the figure
self.domain_fig = plt.figure()
# Goal
plt.gca(
).add_patch(
plt.Circle(
self.GOAL,
radius=self.GOAL_RADIUS,
color='g',
alpha=.4))
plt.xlim([self.XMIN, self.XMAX])
plt.ylim([self.YMIN, self.YMAX])
plt.gca().set_aspect('1')
# Car
if self.car_fig is not None:
plt.gca().patches.remove(self.car_fig)
if self.slips:
slip_x, slip_y = zip(*self.slips)
try:
line = plt.axes().lines[0]
if len(line.get_xdata()) != len(slip_x): # if plot has discrepancy from data
line.set_xdata(slip_x)
line.set_ydata(slip_y)
except IndexError:
plt.plot(slip_x, slip_y, 'x', color='b')
self.car_fig = mpatches.Rectangle(
[car_xmin,
car_ymin],
self.CAR_LENGTH,
self.CAR_WIDTH,
alpha=.4)
rotation = mpl.transforms.Affine2D().rotate_deg_around(
x, y, heading * 180 / np.pi) + plt.gca().transData
self.car_fig.set_transform(rotation)
plt.gca().add_patch(self.car_fig)
plt.draw()
# self.gcf.canvas.draw()
plt.pause(0.001)