Refactor how configurations are shown in plot.py

diff --git a/scripts/plot_json_objects_scenario.py b/scripts/plot_json_objects_scenario.py
index 30a1ecee9cf99f9f7ab892f594771f8f629a2191..4d05b1a1cb4d5f8eb1c6d7d628c23568dee47f24 100644 (file)
--- a/scripts/plot_json_objects_scenario.py
+++ b/scripts/plot_json_objects_scenario.py
@@ -342,33 +342,60 @@ if __name__ == "__main__":
                 continue
             ax.fill(*plot_nodes(o), color="black", fill=False, hatch="//")
     if "slot" in scenario and len(scenario["slot"]) > 0:
-        plt.plot(*plot_nodes(scenario["slot"][0]), color="blue", linewidth=2)
+        plt.plot(*plot_nodes(scenario["slot"][0]), color="blue", linewidth=1)
         #for s in scenario["slot"]:
         #    plt.plot(*plot_nodes(s), color="black")
 
     # For the Possible Entry Configurations from the paper, use:
-    if False and "inits" in scenario:
-        max_i = len(scenario["inits"]) - 1
+    #ax.set_title("Computed configurations")
+    inits = "insides"
+    inits_c = "green"
+    if False and inits in scenario:
+        max_i = len(scenario[inits]) - 1
         ii = 0
-        i = scenario["inits"][ii]
-        plt.plot(*plot_car(i), color="gray")
-        plt.plot(i[0] - MINX, i[1] - MINY, color="gray", marker="+", ms=12)
+        i = scenario[inits][ii]
+        plt.plot(*plot_car(i), color=inits_c)
+        plt.plot(i[0] - MINX, i[1] - MINY, color=inits_c, marker="+", ms=12)
         ii = int(max_i / 4)
-        i = scenario["inits"][ii]
-        plt.plot(*plot_car(i), color="gray")
-        plt.plot(i[0] - MINX, i[1] - MINY, color="gray", marker="+", ms=12)
+        i = scenario[inits][ii]
+        plt.plot(*plot_car(i), color=inits_c)
+        plt.plot(i[0] - MINX, i[1] - MINY, color=inits_c, marker="+", ms=12)
         ii = int(max_i / 2)
-        i = scenario["inits"][ii]
-        plt.plot(*plot_car(i), color="gray")
-        plt.plot(i[0] - MINX, i[1] - MINY, color="gray", marker="+", ms=12)
+        i = scenario[inits][ii]
+        plt.plot(*plot_car(i), color=inits_c)
+        plt.plot(i[0] - MINX, i[1] - MINY, color=inits_c, marker="+", ms=12)
         ii = int(max_i * 3/4)
-        i = scenario["inits"][ii]
-        plt.plot(*plot_car(i), color="gray")
-        plt.plot(i[0] - MINX, i[1] - MINY, color="gray", marker="+", ms=12)
+        i = scenario[inits][ii]
+        plt.plot(*plot_car(i), color=inits_c)
+        plt.plot(i[0] - MINX, i[1] - MINY, color=inits_c, marker="+", ms=12)
         ii = max_i
-        i = scenario["inits"][ii]
-        plt.plot(*plot_car(i), color="gray")
-        plt.plot(i[0] - MINX, i[1] - MINY, color="gray", marker="+", ms=12)
+        i = scenario[inits][ii]
+        plt.plot(*plot_car(i), color=inits_c)
+        plt.plot(i[0] - MINX, i[1] - MINY, color=inits_c, marker="+", ms=12)
+    inits = "inits"
+    inits_c = "orange"
+    if False and inits in scenario:
+        max_i = len(scenario[inits]) - 1
+        ii = 0
+        i = scenario[inits][ii]
+        plt.plot(*plot_car(i), color=inits_c)
+        plt.plot(i[0] - MINX, i[1] - MINY, color=inits_c, marker="+", ms=12)
+        ii = int(max_i / 4)
+        i = scenario[inits][ii]
+        plt.plot(*plot_car(i), color=inits_c)
+        plt.plot(i[0] - MINX, i[1] - MINY, color=inits_c, marker="+", ms=12)
+        ii = int(max_i / 2)
+        i = scenario[inits][ii]
+        plt.plot(*plot_car(i), color=inits_c)
+        plt.plot(i[0] - MINX, i[1] - MINY, color=inits_c, marker="+", ms=12)
+        ii = int(max_i * 3/4)
+        i = scenario[inits][ii]
+        plt.plot(*plot_car(i), color=inits_c)
+        plt.plot(i[0] - MINX, i[1] - MINY, color=inits_c, marker="+", ms=12)
+        ii = max_i
+        i = scenario[inits][ii]
+        plt.plot(*plot_car(i), color=inits_c)
+        plt.plot(i[0] - MINX, i[1] - MINY, color=inits_c, marker="+", ms=12)
 
     # Plot `init`, `entry`, and `goal` configurations.
     if "init" in scenario and len(scenario["init"]) == 3:
@@ -427,14 +454,14 @@ if __name__ == "__main__":
         plt.plot(
             *plot_nodes(scenario["orig_path"]),
             color="blue",
-            linewidth=2,
+            linewidth=1,
             linestyle="dotted",
         )
     if "path" in scenario and len(scenario["path"]) > 0:
         plt.plot(
             *plot_nodes(scenario["path"]),
             color="blue",
-            linewidth=2,
+            linewidth=1,
         )
         for p in scenario["path"]:
             #plt.plot(*plot_car(p), color="green")