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zhm-real
2020-07-04 18:23:30 -07:00
parent 7dc5d43653
commit 288448dfcb
29 changed files with 386 additions and 433 deletions
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Search-based Planning/Search_2D/plotting.py
+11 -12
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@@ -79,35 +79,34 @@ class Plotting:
for x in visited:
count += 1
plt.plot(x[0], x[1], linewidth='3', color=cl, marker='o')
plt.plot(x[0], x[1], color=cl, marker='o')
plt.gcf().canvas.mpl_connect('key_release_event',
lambda event: [exit(0) if event.key == 'escape' else None])
if count < len(visited) / 3:
length = 15
length = 20
elif count < len(visited) * 2 / 3:
length = 25
else:
length = 30
else:
length = 40
#
# length = 15
if count % length == 0:
plt.pause(0.001)
plt.pause(0.01)
def plot_path(self, path, cl='r', flag=False):
if self.xI in path:
path.remove(self.xI)
if self.xG in path:
path.remove(self.xG)
path_x = [path[i][0] for i in range(len(path))]
path_y = [path[i][1] for i in range(len(path))]
if not flag:
plt.plot(path_x, path_y, linewidth='3', color='r', marker='o')
plt.plot(path_x, path_y, linewidth='3', color='r')
else:
plt.plot(path_x, path_y, linewidth='3', color=cl, marker='o')
plt.plot(path_x, path_y, linewidth='3', color=cl)
plt.plot(self.xI[0], self.xI[1], "bs")
plt.plot(self.xG[0], self.xG[1], "gs")
plt.pause(0.01)