From 56de3a92ce7b28237cbddcb40db3c2f2a0cbdec3 Mon Sep 17 00:00:00 2001 From: Jiri Vlasak Date: Mon, 12 Jul 2021 14:59:44 +0200 Subject: [PATCH] Refactor how configurations are shown in plot.py --- scripts/plot_json_objects_scenario.py | 67 +++++++++++++++++++-------- 1 file changed, 47 insertions(+), 20 deletions(-) diff --git a/scripts/plot_json_objects_scenario.py b/scripts/plot_json_objects_scenario.py index 30a1ece..4d05b1a 100644 --- 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") -- 2.39.2