robond-a-visualization's Introduction

RoboND-A-Visualization

You will visualize the shortest path for the robot to travel through the generated image

Instruction

The visualization function will plot the state of each grid cell using the matplotlib python library. Edit this function and plot the start position, goal position and path.

void visualization(Map map, Planner planner)
{
    //Graph Format
    plt::title("Path");
    plt::xlim(0, map.mapHeight);
    plt::ylim(0, map.mapWidth);

    // Draw every grid of the map:
    for (double x = 0; x < map.mapHeight; x++) {
        cout << "Remaining Rows= " << map.mapHeight - x << endl;
        for (double y = 0; y < map.mapWidth; y++) {
            if (map.map[x][y] == 0) { //Green unkown state
                plt::plot({ x }, { y }, "g.");
            }
            else if (map.map[x][y] > 0) { //Black occupied state
                plt::plot({ x }, { y }, "k.");
            }
            else { //Red free state
                plt::plot({ x }, { y }, "r.");
            }
        }
    }

    // TODO: Plot start and end states in blue colors using o and * respectively
    
    // TODO: Plot the robot path in blue color using a .
    
    //Save the image and close the plot
    plt::save("./Images/Path.png");
    plt::clf();
}

Here are some helpful commands you can use to generate plots with the matplotlib library:

Set Title: plt::title("Your Title");
Set Limits: plt::xlim(x-axis lower limit, x-axis upper limit );
Plot Data:plt::plot({ x-value }, { y-value }, "Color and Shape");
Save Plot: plt::save("File name and directory");
Close Plot: plt::clf();

Check out this link for more information on the matplotlib C++ library. For information regarding the plot color and shape refer to the LineSpec and LineColor section of the MATLAB documentation.

Compiling

$ cd /home/workspace/
$ git clone https://github.com/udacity/RoboND-A-Visualization
$ cd /RoboND-A-Visualization/
$ rm -rf Images/* #Delete the folder content and not the folder itself!
$ g++ main.cpp -o app -std=c++11 -I/usr/include/python2.7 -lpython2.7