Reorder and re-comment the plot json script code

diff --git a/CHANGELOG.md b/CHANGELOG.md
index ffaa7644ad814ecdbbf424f952526398ec962c6b..0896f4107eee4f3b3403431fa1c875b08f1b3951 100644 (file)
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -13,6 +13,7 @@ The format is based on [Keep a Changelog][] and this project adheres to
 
 ### Changed
 - Split scenarios to *trivial* and *non-trivial* directories.
+- Clean the plot json script code.
 
 ## 0.3.0 - 2020-05-26
 ### Added

diff --git a/scripts/plot_json_objects_scenario.py b/scripts/plot_json_objects_scenario.py
index c306460456042021e87dd15de5051e489ace4955..39390637e99e1ae25f65d2665f1763a5d06c5675 100644 (file)
--- a/scripts/plot_json_objects_scenario.py
+++ b/scripts/plot_json_objects_scenario.py
@@ -95,21 +95,35 @@ if __name__ == "__main__":
 
     scenario = get_scenario(SCEN_FILE)
 
-    plt.rcParams["font.size"] = 24
+    # Font size to be approximately the same in the paper:
+    #   - sc1-0: 16
+    #   - sc3-2: 12
+    #   - sc4-0+: 22
+    plt.rcParams["font.size"] = 22
     plt.rcParams['hatch.linewidth'] = 1.0
+    plt.rcParams['lines.linewidth'] = 1.0
     fig = plt.figure()
 
     # here subplot starts
     ax = fig.add_subplot(111)
     ax.set_aspect("equal")
-    ax.set_title("{}".format(SCEN_FILE))
+    ax.set_title("Possible Entry Configurations".format(SCEN_FILE[-8:-5].replace("_", "-")))
     ax.set_xlabel("x [m]")
     ax.set_ylabel("y [m]")
-    #ax.set_xlim([34, 53]) # 19
-    #ax.set_ylim([-1, 16]) # 17
-    #ax.set_xlim([28, 53]) # 25
-    #ax.set_ylim([-1, 21]) # 22
 
+    # For Possible Entry Points (Possible Entry Configurations) use:
+    #ax.set_xlim([35.6, 46.4])
+    #ax.set_ylim([2.9, 2.9 + 6.84])
+
+    # For Last Maneuver use:
+    #ax.set_xlim([38, 44])
+    #ax.set_ylim([3.1, 6.9])
+
+    # For Scenario 3-2 detail use:
+    #ax.set_xlim([0, 15])
+    #ax.set_ylim([35, 50])
+
+    # Set min and max to center the plot.
     MINX = scenario["init"][0]
     MINY = scenario["init"][1]
     if "obst" in scenario and  len(scenario["obst"]) > 0:
@@ -120,6 +134,7 @@ if __name__ == "__main__":
                 if n[1] < MINY:
                     MINY = n[1]
 
+    # Plot all the nodes (if exists), obstacles, and slot.
     if "nodes_x" in scenario and "nodes_y" in scenario:
         plt.plot(
             scenario["nodes_x"] - MINX,
@@ -129,23 +144,16 @@ if __name__ == "__main__":
             ms=2,
             lw=0,
         )
-    if "obst" in scenario and  len(scenario["obst"]) > 0:
+    if "obst" in scenario and len(scenario["obst"]) > 0:
         for o in scenario["obst"]:
-            plt.plot(*plot_nodes(o), color="blue")
-    if "last" in scenario and  len(scenario["last"]) > 0:
-        for n in scenario["last"]:
-            plt.plot(*plot_car(n), color="peachpuff")
-    if "path" in scenario and  len(scenario["path"]) > 0:
-        for n in scenario["path"]:
-            plt.plot(*plot_car(n), color="peachpuff")
-        plt.plot(*plot_nodes(scenario["path"]), color="orange")
-    if "last" in scenario and  len(scenario["last"]) > 0:
-        plt.plot(*plot_nodes(scenario["last"]), color="orange")
+            plt.plot(*plot_nodes(o), color="blue", linestyle=":")
     if "slot" in scenario and len(scenario["slot"]) > 0:
-        plt.plot(*plot_nodes(scenario["slot"][0]), color="gray")
+        plt.plot(*plot_nodes(scenario["slot"][0]), color="black")
         for s in scenario["slot"]:
-            pass#plt.plot(*plot_nodes(s), color="gray")
-    if "init" in scenario and len(scenario["init"]) == 3:
+            plt.plot(*plot_nodes(s), color="black")
+
+    # Plot `init`, `entry`, and `goal` configurations.
+    if "init" in scenario and len(scenario["entry"]) == 3:
         plt.plot(*plot_car(scenario["init"]), color="red")
         plt.plot(
             scenario["init"][0] - MINX,
@@ -154,38 +162,126 @@ if __name__ == "__main__":
             marker="+",
             ms=12
         )
-    if "goals" in scenario:
-        for i in scenario["goals"]:
-            if len(i) == 3:
-                plt.plot(*plot_car(i), color="darkseagreen")
-                plt.plot(i[0] - MINX, i[1] - MINY, color="darkseagreen", marker="+", ms=12)
-    if "goal" in scenario and len(scenario["goal"]) == 3:
-        # plot entry point
-        plt.plot(*plot_car(scenario["goal"]), color="magenta")
+    if "entry" in scenario and len(scenario["entry"]) == 3:
+        plt.plot(*plot_car(scenario["entry"]), color="magenta")
         plt.plot(
-            scenario["goal"][0] - MINX,
-            scenario["goal"][1] - MINY,
+            scenario["entry"][0] - MINX,
+            scenario["entry"][1] - MINY,
             color="magenta",
             marker="+",
             ms=12
         )
-    # plot gc
-    if "last" in scenario:
-        plt.plot(*plot_car(scenario["last"][0]), color="green")
+    if "goal" in scenario and len(scenario["goal"]) == 3:
+        plt.plot(*plot_car(scenario["goal"]), color="green")
         plt.plot(
-            scenario["last"][0][0] - MINX,
-            scenario["last"][0][1] - MINY,
+            scenario["goal"][0] - MINX,
+            scenario["goal"][1] - MINY,
             color="green",
             marker="+",
             ms=12
         )
-    if "starts" in scenario and len(scenario["starts"]) > 0:
-        print("possible starts:")
-        for p in scenario["starts"]:
-            plt.plot(*p, color="red", marker="+", ms=12)
-            print(" {}".format(p))
+
+    # Plot `path` and `max_path`.
+    if "max_path" in scenario and  len(scenario["path"]) > 0:
+        plt.plot(*plot_nodes(scenario["max_path"]), color="orange")
+    if "path" in scenario and  len(scenario["path"]) > 0:
+        plt.plot(*plot_nodes(scenario["path"]), color="orange")
+
+    # If there are possible starts specified, you may print and plot them.
+    #if "starts" in scenario and len(scenario["starts"]) > 0:
+    #    print("possible starts:")
+    #    for p in scenario["starts"]:
+    #        plt.plot(*p, color="red", marker="+", ms=12)
+    #        print(" {}".format(p))
+
+    # For the Last Maneuver figure from the paper, use:
+    #   - `init2` -- orange
+    #plt.plot(*plot_car(scenario["init2"]), color="orange")
+    #plt.plot(
+    #    scenario["init2"][0] - MINX,
+    #    scenario["init2"][1] - MINY,
+    #    color="orange",
+    #    #marker="+",
+    #    ms=12
+    #)
+    #   - `goal2` -- orange
+    #plt.plot(*plot_car(scenario["goal2"]), color="orange")
+    #plt.plot(
+    #    scenario["goal2"][0] - MINX,
+    #    scenario["goal2"][1] - MINY,
+    #    color="orange",
+    #    #marker="+",
+    #    ms=12
+    #)
+    #   - `goal2` -- middle (orange)
+    #plt.plot(*plot_car(scenario["goals"][0]), color="orange")
+    #plt.plot(
+    #    scenario["goal2"][0] - MINX,
+    #    scenario["goal2"][1] - MINY,
+    #    color="orange",
+    #    #marker="+",
+    #    ms=12
+    #)
+    #   - `init1` -- green
+    #plt.plot(*plot_car(scenario["init1"]), color="green")
+    #plt.plot(
+    #    scenario["init1"][0] - MINX,
+    #    scenario["init1"][1] - MINY,
+    #    color="green",
+    #    #marker="+",
+    #    ms=12
+    #)
+    #   - `goal1` -- green
+    #plt.plot(*plot_car(scenario["goal1"]), color="green")
+    #plt.plot(
+    #    scenario["goal1"][0] - MINX,
+    #    scenario["goal1"][1] - MINY,
+    #    color="green",
+    #    #marker="+",
+    #    ms=12
+    #)
+
+    # For the Possible Entry Configurations from the paper, use:
+    #if "inits" in scenario:
+    #    for i in scenario["inits"]:
+    #        print(i)
+    #        if len(i) == 3:
+    #            plt.plot(*plot_car(i), color="gray")
+    #            plt.plot(
+    #                i[0] - MINX,
+    #                i[1] - MINY,
+    #                color="gray",
+    #                marker="+",
+    #                ms=12,
+    #            )
+    #    plt.plot(*plot_car(scenario["inits"][0]), color="magenta")
+    #    plt.plot(
+    #        scenario["inits"][0][0] - MINX,
+    #        scenario["inits"][0][1] - MINY,
+    #        color="magenta",
+    #        marker="+",
+    #        ms=12,
+    #    )
+
+    # The `scenario` may also include:
+    #   - `last` -- not sure what this is, see the source code. Maybe overlaps
+    #     with the `goal`.
+    #   - `last1` -- used to demonstrate In-Slot Planner (was Parking Slot
+    #     Planner (PSP.))
+    #   - `last2` -- used to demonstrate In-Slot Planner (was Parking Slot
+    #     Planner (PSP.))
+    #   - `max_orig_path` -- maximum original path. I used this when comparing
+    #     original paths but I had to copy the `max_orig_path` by hand from
+    #     different scenario result.
+    #   - `orig_path` -- the path before the optimization.
+    #   - `max_path` -- the maximum path after optimization. Must be copied by
+    #     hand.
+    #   - `path` -- optimized path of the scenario.
 
     handles, labels = ax.get_legend_handles_labels()
 
+    # Uncommnent the following line and comment the plt.show() to store to the
+    # file.
+    # plt.savefig("out.eps", bbox_inches="tight")
     plt.show()
     plt.close(fig)