Path_Planning_Algo_with_Animations/Search-based Planning/Search_2D/plotting.py

"""
Plot tools 2D
@author: huiming zhou
"""

import os
import sys
import matplotlib.pyplot as plt

sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
                "/../../Search-based Planning/")

from Search_2D import env


class Plotting:
    def __init__(self, xI, xG):
        self.xI, self.xG = xI, xG
        self.env = env.Env()
        self.obs = self.env.obs_map()

    def animation(self, path, visited, name):
        self.plot_grid(name)
        self.plot_visited(visited)
        self.plot_path(path)
        plt.show()

    def plot_grid(self, name):
        obs_x = [self.obs[i][0] for i in range(len(self.obs))]
        obs_y = [self.obs[i][1] for i in range(len(self.obs))]

        plt.plot(self.xI[0], self.xI[1], "bs")
        plt.plot(self.xG[0], self.xG[1], "gs")
        plt.plot(obs_x, obs_y, "sk")
        plt.title(name)
        plt.axis("equal")

    def plot_visited(self, visited, cl='gray'):
        if self.xI in visited:
            visited.remove(self.xI)

        if self.xG in visited:
            visited.remove(self.xG)

        count = 0

        for x in visited:
            count += 1
            plt.plot(x[0], x[1], linewidth='3', 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
            elif count < len(visited) * 2 / 3:
                length = 25
            else:
                length = 35

            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')
        else:
            plt.plot(path_x, path_y, linewidth='3', color=cl, marker='o')

        plt.pause(0.01)

    def animation_ara_star(self, path, visited, name):
        self.plot_grid(name)
        cl_v, cl_p = self.color_list()

        for k in range(len(path)):
            self.plot_visited(visited[k], cl_v[k])
            self.plot_path(path[k], cl_p[k], True)
            plt.pause(0.5)

        plt.show()

    @staticmethod
    def color_list():
        cl_v = ['silver', 'wheat', 'lightskyblue', 'plum', 'slategray']
        cl_p = ['gray', 'orange', 'deepskyblue', 'red', 'm']
        return cl_v, cl_p