+ # Plot `init`, `entry`, and `goal` configurations.
+ if "init" in scenario and len(scenario["init"]) == 3:
+ plt.plot(*plot_car(scenario["init"]), color="red")
+ plt.plot(
+ scenario["init"][0] - MINX,
+ scenario["init"][1] - MINY,
+ color="red",
+ marker="+",
+ ms=12
+ )
+ if "entries" in scenario:
+ for e in scenario["entries"]:
+ plt.plot(*plot_car(e), color="orange")
+ plt.plot(
+ e[0] - MINX,
+ e[1] - MINY,
+ color="orange",
+ marker="+",
+ ms=12
+ )
+ if "entry" in scenario and len(scenario["entry"]) == 3:
+ plt.plot(*plot_car(scenario["entry"]), color="magenta")
+ plt.plot(
+ scenario["entry"][0] - MINX,
+ scenario["entry"][1] - MINY,
+ color="magenta",
+ marker="+",
+ ms=12
+ )
+ if "entry" in scenario and len(scenario["entry"]) == 4:
+ esc = scenario["entry"]
+ plt.plot(*plot_car([esc[0], esc[1], esc[2]]), color="magenta")
+ plt.plot(*plot_car([esc[0], esc[1], esc[3]]), color="magenta")
+ plt.plot(
+ scenario["entry"][0] - MINX,
+ scenario["entry"][1] - MINY,
+ color="magenta",
+ marker="+",
+ ms=12
+ )
+ if "goal" in scenario and len(scenario["goal"]) == 3:
+ plt.plot(*plot_car(scenario["goal"]), color="green")
+ plt.plot(
+ scenario["goal"][0] - MINX,
+ scenario["goal"][1] - MINY,
+ color="green",
+ marker="+",
+ ms=12
+ )
+