PlotVisual.py

from testing_suite_ice_rover_Visual import State, Submission
import math
import matplotlib
import matplotlib.pyplot as plt
PI = math.pi
params = {'test_case': 7,
'area_map': ['.......................................................................................................',
             '..LLLLLLLLLLLLLLLLL.......LL..........LLLLLLLLLL.......................................................',
             '..LL.....................L..L........L..........L............................LLLLLLL...................',
             '..LL....................L....L......L............L............@..............L......L..................',
             '..LLLLLLLLLLLLLL.......L......L.....L............L...........................L.......L.................',
             '..LL..................L........L....L...........L............................L........L................',
             '..LL.................L..........L...LLLLLLLLLLLL.............................L........L................',
             '..LL................LLLLLLLLLLLLLL..LL..LL..........LLLLLLLLLLLL......LL.....L........L................',
             '..LL................L............L..LL...LL..................LL......L..L....L.......L.................',
             '..LL................L............L..LL.....LL..............LL.......L....L...L......L..................',
             '..LL................L............L..LL.......LL..........LL........LLLLLLLL..LLLLLLL...................',
             '..LL................L............L..LL.........LL......LL..........L......L............................',
             '..LL................L............L..LL..........LL...LLLLLLLLLLLL..L......L............................',                                                                                                                                               
             '.......................................................................................................'],
'todo': [(2.0, -3.0),(16.5, -2.5),(18.0, -12.5),(32.5, -1.5),(38.5, -3.75),(43.0, -3.75),(35.5, -14.0),(52.0, -14.0)],
'horizon_distance': 3.5,
'max_distance': 3.0,
'max_steering': PI / 2. + 0.01}
if __name__ == "__main__":
    sub = Submission()
    spiral_path = sub.execute_student_plan(params['area_map'], params['todo'], params['max_distance'], params['max_steering'], params['horizon_distance'])
    x_sample, y_sample = zip(*params['todo'])
    x = spiral_path[1:, 0]
    y = spiral_path[1:, 1]
    fig, ax = plt.subplots()
    ax.plot(x, y)
    map = params['area_map']
    landmarks = []
    for i in range(len(map)):
        for j in range(len(map[0])):
            if map[i][j] =='L':
                landmarks.append((j,-i))
    x_landmarks, y_landmarks = zip(*landmarks)
    ax.scatter(x_landmarks, y_landmarks, color='green')
    ax.scatter(x_sample, y_sample, color='red', marker='X')
    ax.scatter(x[0], y[0], color='black')
    ax.scatter(x[-1], y[-1], color='blue')
    ax.grid()
    plt.show()