From 9ca7d8f14808f535b5e698bc57e5ab163b3dae4f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?G=C3=B6ktu=C4=9F=20Karaka=C5=9Fl=C4=B1?=
 <20567087+goktug97@users.noreply.github.com>
Date: Sat, 14 Dec 2019 14:44:01 +0300
Subject: [PATCH] add comment for stopping the simulation

---
 AerialNavigation/drone_3d_trajectory_following/Quadrotor.py     | 1 +
 .../rocket_powered_landing/rocket_powered_landing.py            | 1 +
 .../arm_obstacle_navigation/arm_obstacle_navigation.py          | 1 +
 .../arm_obstacle_navigation/arm_obstacle_navigation_2.py        | 1 +
 ArmNavigation/n_joint_arm_to_point_control/NLinkArm.py          | 1 +
 .../two_joint_arm_to_point_control.py                           | 1 +
 Bipedal/bipedal_planner/bipedal_planner.py                      | 1 +
 Localization/ensemble_kalman_filter/ensemble_kalman_filter.py   | 1 +
 Localization/extended_kalman_filter/extended_kalman_filter.py   | 1 +
 Localization/histogram_filter/histogram_filter.py               | 1 +
 Localization/particle_filter/particle_filter.py                 | 1 +
 Localization/unscented_kalman_filter/unscented_kalman_filter.py | 1 +
 Mapping/circle_fitting/circle_fitting.py                        | 1 +
 Mapping/gaussian_grid_map/gaussian_grid_map.py                  | 1 +
 Mapping/kmeans_clustering/kmeans_clustering.py                  | 1 +
 Mapping/raycasting_grid_map/raycasting_grid_map.py              | 1 +
 Mapping/rectangle_fitting/rectangle_fitting.py                  | 1 +
 PathPlanning/AStar/a_star.py                                    | 1 +
 PathPlanning/BatchInformedRRTStar/batch_informed_rrtstar.py     | 1 +
 PathPlanning/ClosedLoopRRTStar/pure_pursuit.py                  | 1 +
 PathPlanning/Dijkstra/dijkstra.py                               | 1 +
 PathPlanning/DubinsPath/dubins_path_planning.py                 | 1 +
 PathPlanning/DynamicWindowApproach/dynamic_window_approach.py   | 1 +
 PathPlanning/Eta3SplinePath/eta3_spline_path.py                 | 1 +
 .../FrenetOptimalTrajectory/frenet_optimal_trajectory.py        | 1 +
 .../GridBasedSweepCPP/grid_based_sweep_coverage_path_planner.py | 2 ++
 PathPlanning/HybridAStar/a_star.py                              | 1 +
 PathPlanning/HybridAStar/hybrid_a_star.py                       | 1 +
 PathPlanning/InformedRRTStar/informed_rrt_star.py               | 1 +
 PathPlanning/LQRPlanner/LQRplanner.py                           | 1 +
 PathPlanning/LQRRRTStar/lqr_rrt_star.py                         | 1 +
 PathPlanning/PotentialFieldPlanning/potential_field_planning.py | 1 +
 PathPlanning/ProbabilisticRoadMap/probabilistic_road_map.py     | 1 +
 .../QuinticPolynomialsPlanner/quintic_polynomials_planner.py    | 1 +
 PathPlanning/RRT/rrt.py                                         | 1 +
 PathPlanning/RRTDubins/rrt_dubins.py                            | 1 +
 PathPlanning/RRTStarDubins/rrt_star_dubins.py                   | 1 +
 PathPlanning/RRTStarReedsShepp/rrt_star_reeds_shepp.py          | 1 +
 PathPlanning/ReedsSheppPath/reeds_shepp_path_planning.py        | 1 +
 PathPlanning/VoronoiRoadMap/voronoi_road_map.py                 | 1 +
 PathTracking/cgmres_nmpc/cgmres_nmpc.py                         | 1 +
 PathTracking/lqr_speed_steer_control/lqr_speed_steer_control.py | 1 +
 PathTracking/lqr_steer_control/lqr_steer_control.py             | 1 +
 .../model_predictive_speed_and_steer_control.py                 | 1 +
 PathTracking/move_to_pose/move_to_pose.py                       | 1 +
 PathTracking/pure_pursuit/pure_pursuit.py                       | 1 +
 PathTracking/rear_wheel_feedback/rear_wheel_feedback.py         | 1 +
 PathTracking/stanley_controller/stanley_controller.py           | 1 +
 SLAM/EKFSLAM/ekf_slam.py                                        | 1 +
 SLAM/FastSLAM1/fast_slam1.py                                    | 1 +
 SLAM/FastSLAM2/fast_slam2.py                                    | 1 +
 SLAM/GraphBasedSLAM/graph_based_slam.py                         | 1 +
 SLAM/iterative_closest_point/iterative_closest_point.py         | 1 +
 53 files changed, 54 insertions(+)

diff --git a/AerialNavigation/drone_3d_trajectory_following/Quadrotor.py b/AerialNavigation/drone_3d_trajectory_following/Quadrotor.py
index 89171da2..413a8625 100644
--- a/AerialNavigation/drone_3d_trajectory_following/Quadrotor.py
+++ b/AerialNavigation/drone_3d_trajectory_following/Quadrotor.py
@@ -23,6 +23,7 @@ class Quadrotor():
         if self.show_animation:
             plt.ion()
             fig = plt.figure()
+            # for stopping simulation with the esc key.
             fig.canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
 
diff --git a/AerialNavigation/rocket_powered_landing/rocket_powered_landing.py b/AerialNavigation/rocket_powered_landing/rocket_powered_landing.py
index 51e09b4e..ee0f5e26 100644
--- a/AerialNavigation/rocket_powered_landing/rocket_powered_landing.py
+++ b/AerialNavigation/rocket_powered_landing/rocket_powered_landing.py
@@ -567,6 +567,7 @@ def plot_animation(X, U):  # pragma: no cover
 
     fig = plt.figure()
     ax = fig.gca(projection='3d')
+    # for stopping simulation with the esc key.
     fig.canvas.mpl_connect('key_release_event',
             lambda event: [exit(0) if event.key == 'escape' else None])
 
diff --git a/ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation.py b/ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation.py
index b435e62d..f3bd2557 100644
--- a/ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation.py
+++ b/ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation.py
@@ -162,6 +162,7 @@ def astar_torus(grid, start_node, goal_node):
         for i in range(1, len(route)):
             grid[route[i]] = 6
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.imshow(grid, cmap=cmap, norm=norm, interpolation=None)
diff --git a/ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation_2.py b/ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation_2.py
index 5a21b806..429cd4d2 100644
--- a/ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation_2.py
+++ b/ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation_2.py
@@ -193,6 +193,7 @@ def astar_torus(grid, start_node, goal_node):
         for i in range(1, len(route)):
             grid[route[i]] = 6
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.imshow(grid, cmap=cmap, norm=norm, interpolation=None)
diff --git a/ArmNavigation/n_joint_arm_to_point_control/NLinkArm.py b/ArmNavigation/n_joint_arm_to_point_control/NLinkArm.py
index 576bd29a..854ade90 100644
--- a/ArmNavigation/n_joint_arm_to_point_control/NLinkArm.py
+++ b/ArmNavigation/n_joint_arm_to_point_control/NLinkArm.py
@@ -51,6 +51,7 @@ class NLinkArm(object):
 
     def plot(self):  # pragma: no cover
         plt.cla()
+        # for stopping simulation with the esc key.
         plt.gcf().canvas.mpl_connect('key_release_event',
                 lambda event: [exit(0) if event.key == 'escape' else None])
 
diff --git a/ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py b/ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py
index 134583a9..60a7cd5f 100644
--- a/ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py
+++ b/ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py
@@ -114,6 +114,7 @@ def animation():
 def main():  # pragma: no cover
     fig = plt.figure()
     fig.canvas.mpl_connect("button_press_event", click)
+    # for stopping simulation with the esc key.
     fig.canvas.mpl_connect('key_release_event',
             lambda event: [exit(0) if event.key == 'escape' else None])
     two_joint_arm()
diff --git a/Bipedal/bipedal_planner/bipedal_planner.py b/Bipedal/bipedal_planner/bipedal_planner.py
index afa68afb..6502ce5b 100644
--- a/Bipedal/bipedal_planner/bipedal_planner.py
+++ b/Bipedal/bipedal_planner/bipedal_planner.py
@@ -111,6 +111,7 @@ class BipedalPlanner(object):
                     if c > len(com_trajectory_for_plot):
                         # set up plotter
                         plt.cla()
+                        # for stopping simulation with the esc key.
                         plt.gcf().canvas.mpl_connect('key_release_event',
                                 lambda event: [exit(0) if event.key == 'escape' else None])
                         ax.set_zlim(0, z_c * 2)
diff --git a/Localization/ensemble_kalman_filter/ensemble_kalman_filter.py b/Localization/ensemble_kalman_filter/ensemble_kalman_filter.py
index 6ac6144f..244cfccd 100644
--- a/Localization/ensemble_kalman_filter/ensemble_kalman_filter.py
+++ b/Localization/ensemble_kalman_filter/ensemble_kalman_filter.py
@@ -213,6 +213,7 @@ def main():
 
         if show_animation:
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
 
diff --git a/Localization/extended_kalman_filter/extended_kalman_filter.py b/Localization/extended_kalman_filter/extended_kalman_filter.py
index 029dac4b..2b057e21 100644
--- a/Localization/extended_kalman_filter/extended_kalman_filter.py
+++ b/Localization/extended_kalman_filter/extended_kalman_filter.py
@@ -191,6 +191,7 @@ def main():
 
         if show_animation:
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.plot(hz[0, :], hz[1, :], ".g")
diff --git a/Localization/histogram_filter/histogram_filter.py b/Localization/histogram_filter/histogram_filter.py
index ac07c59f..79302c8a 100644
--- a/Localization/histogram_filter/histogram_filter.py
+++ b/Localization/histogram_filter/histogram_filter.py
@@ -233,6 +233,7 @@ def main():
 
         if show_animation:
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             draw_heat_map(grid_map.data, mx, my)
diff --git a/Localization/particle_filter/particle_filter.py b/Localization/particle_filter/particle_filter.py
index 4b9abd78..3e901f8d 100644
--- a/Localization/particle_filter/particle_filter.py
+++ b/Localization/particle_filter/particle_filter.py
@@ -230,6 +230,7 @@ def main():
 
         if show_animation:
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
 
diff --git a/Localization/unscented_kalman_filter/unscented_kalman_filter.py b/Localization/unscented_kalman_filter/unscented_kalman_filter.py
index 0005d12f..7bf279ce 100644
--- a/Localization/unscented_kalman_filter/unscented_kalman_filter.py
+++ b/Localization/unscented_kalman_filter/unscented_kalman_filter.py
@@ -240,6 +240,7 @@ def main():
 
         if show_animation:
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.plot(hz[0, :], hz[1, :], ".g")
diff --git a/Mapping/circle_fitting/circle_fitting.py b/Mapping/circle_fitting/circle_fitting.py
index 27ceac21..c331d567 100644
--- a/Mapping/circle_fitting/circle_fitting.py
+++ b/Mapping/circle_fitting/circle_fitting.py
@@ -124,6 +124,7 @@ def main():
 
         if show_animation:  # pragma: no cover
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.axis("equal")
diff --git a/Mapping/gaussian_grid_map/gaussian_grid_map.py b/Mapping/gaussian_grid_map/gaussian_grid_map.py
index 094b094f..7893d6a5 100644
--- a/Mapping/gaussian_grid_map/gaussian_grid_map.py
+++ b/Mapping/gaussian_grid_map/gaussian_grid_map.py
@@ -73,6 +73,7 @@ def main():
 
         if show_animation:  # pragma: no cover
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             draw_heatmap(gmap, minx, maxx, miny, maxy, xyreso)
diff --git a/Mapping/kmeans_clustering/kmeans_clustering.py b/Mapping/kmeans_clustering/kmeans_clustering.py
index 53458130..d658b84f 100644
--- a/Mapping/kmeans_clustering/kmeans_clustering.py
+++ b/Mapping/kmeans_clustering/kmeans_clustering.py
@@ -133,6 +133,7 @@ def main():
         # for animation
         if show_animation:  # pragma: no cover
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             clusters.plot_cluster()
diff --git a/Mapping/raycasting_grid_map/raycasting_grid_map.py b/Mapping/raycasting_grid_map/raycasting_grid_map.py
index cae92a9d..372e31ec 100644
--- a/Mapping/raycasting_grid_map/raycasting_grid_map.py
+++ b/Mapping/raycasting_grid_map/raycasting_grid_map.py
@@ -124,6 +124,7 @@ def main():
 
         if show_animation:  # pragma: no cover
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             draw_heatmap(pmap, minx, maxx, miny, maxy, xyreso)
diff --git a/Mapping/rectangle_fitting/rectangle_fitting.py b/Mapping/rectangle_fitting/rectangle_fitting.py
index 77c66db2..1c4d4122 100644
--- a/Mapping/rectangle_fitting/rectangle_fitting.py
+++ b/Mapping/rectangle_fitting/rectangle_fitting.py
@@ -242,6 +242,7 @@ def main():
 
         if show_animation:  # pragma: no cover
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.axis("equal")
diff --git a/PathPlanning/AStar/a_star.py b/PathPlanning/AStar/a_star.py
index e4f7dd4d..d8ef09de 100644
--- a/PathPlanning/AStar/a_star.py
+++ b/PathPlanning/AStar/a_star.py
@@ -79,6 +79,7 @@ class AStarPlanner:
             if show_animation:  # pragma: no cover
                 plt.plot(self.calc_grid_position(current.x, self.minx),
                          self.calc_grid_position(current.y, self.miny), "xc")
+                # for stopping simulation with the esc key.
                 plt.gcf().canvas.mpl_connect('key_release_event',
                         lambda event: [exit(0) if event.key == 'escape' else None])
                 if len(closed_set.keys()) % 10 == 0:
diff --git a/PathPlanning/BatchInformedRRTStar/batch_informed_rrtstar.py b/PathPlanning/BatchInformedRRTStar/batch_informed_rrtstar.py
index 46ff3caf..e84f65d6 100644
--- a/PathPlanning/BatchInformedRRTStar/batch_informed_rrtstar.py
+++ b/PathPlanning/BatchInformedRRTStar/batch_informed_rrtstar.py
@@ -534,6 +534,7 @@ class BITStar(object):
     def draw_graph(self, xCenter=None, cBest=None, cMin=None, etheta=None,
                    samples=None, start=None, end=None):
         plt.clf()
+        # for stopping simulation with the esc key.
         plt.gcf().canvas.mpl_connect('key_release_event',
                 lambda event: [exit(0) if event.key == 'escape' else None])
         for rnd in samples:
diff --git a/PathPlanning/ClosedLoopRRTStar/pure_pursuit.py b/PathPlanning/ClosedLoopRRTStar/pure_pursuit.py
index d078338d..5833f6e9 100644
--- a/PathPlanning/ClosedLoopRRTStar/pure_pursuit.py
+++ b/PathPlanning/ClosedLoopRRTStar/pure_pursuit.py
@@ -135,6 +135,7 @@ def closed_loop_prediction(cx, cy, cyaw, speed_profile, goal):
 
         if target_ind % 1 == 0 and animation:  # pragma: no cover
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.plot(cx, cy, "-r", label="course")
diff --git a/PathPlanning/Dijkstra/dijkstra.py b/PathPlanning/Dijkstra/dijkstra.py
index 8e719f50..a8f64413 100644
--- a/PathPlanning/Dijkstra/dijkstra.py
+++ b/PathPlanning/Dijkstra/dijkstra.py
@@ -69,6 +69,7 @@ class Dijkstra:
             if show_animation:  # pragma: no cover
                 plt.plot(self.calc_position(current.x, self.minx),
                          self.calc_position(current.y, self.miny), "xc")
+                # for stopping simulation with the esc key.
                 plt.gcf().canvas.mpl_connect('key_release_event',
                         lambda event: [exit(0) if event.key == 'escape' else None])
                 if len(closedset.keys()) % 10 == 0:
diff --git a/PathPlanning/DubinsPath/dubins_path_planning.py b/PathPlanning/DubinsPath/dubins_path_planning.py
index 8690fbe8..de5db2a5 100644
--- a/PathPlanning/DubinsPath/dubins_path_planning.py
+++ b/PathPlanning/DubinsPath/dubins_path_planning.py
@@ -318,6 +318,7 @@ def test():
 
         if show_animation:
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.plot(px, py, label="final course " + str(mode))
diff --git a/PathPlanning/DynamicWindowApproach/dynamic_window_approach.py b/PathPlanning/DynamicWindowApproach/dynamic_window_approach.py
index c2cc358b..b0d02030 100644
--- a/PathPlanning/DynamicWindowApproach/dynamic_window_approach.py
+++ b/PathPlanning/DynamicWindowApproach/dynamic_window_approach.py
@@ -268,6 +268,7 @@ def main(gx=10.0, gy=10.0, robot_type=RobotType.circle):
 
         if show_animation:
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.plot(predicted_trajectory[:, 0], predicted_trajectory[:, 1], "-g")
diff --git a/PathPlanning/Eta3SplinePath/eta3_spline_path.py b/PathPlanning/Eta3SplinePath/eta3_spline_path.py
index 51ac612c..414f6b45 100644
--- a/PathPlanning/Eta3SplinePath/eta3_spline_path.py
+++ b/PathPlanning/Eta3SplinePath/eta3_spline_path.py
@@ -213,6 +213,7 @@ def test1():
         if show_animation:
             # plot the path
             plt.plot(pos[0, :], pos[1, :])
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.pause(1.0)
diff --git a/PathPlanning/FrenetOptimalTrajectory/frenet_optimal_trajectory.py b/PathPlanning/FrenetOptimalTrajectory/frenet_optimal_trajectory.py
index 1abda926..861260e9 100644
--- a/PathPlanning/FrenetOptimalTrajectory/frenet_optimal_trajectory.py
+++ b/PathPlanning/FrenetOptimalTrajectory/frenet_optimal_trajectory.py
@@ -347,6 +347,7 @@ def main():
 
         if show_animation:  # pragma: no cover
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.plot(tx, ty)
diff --git a/PathPlanning/GridBasedSweepCPP/grid_based_sweep_coverage_path_planner.py b/PathPlanning/GridBasedSweepCPP/grid_based_sweep_coverage_path_planner.py
index 049373ec..5c39a1ee 100644
--- a/PathPlanning/GridBasedSweepCPP/grid_based_sweep_coverage_path_planner.py
+++ b/PathPlanning/GridBasedSweepCPP/grid_based_sweep_coverage_path_planner.py
@@ -213,6 +213,7 @@ def sweep_path_search(sweep_searcher, gmap, grid_search_animation=False):
 
     if grid_search_animation:
         fig, ax = plt.subplots()
+        # for stopping simulation with the esc key.
         fig.canvas.mpl_connect('key_release_event',
                 lambda event: [exit(0) if event.key == 'escape' else None])
 
@@ -268,6 +269,7 @@ def planning_animation(ox, oy, reso):  # pragma: no cover
     if do_animation:
         for ipx, ipy in zip(px, py):
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.plot(ox, oy, "-xb")
diff --git a/PathPlanning/HybridAStar/a_star.py b/PathPlanning/HybridAStar/a_star.py
index 918469f0..a2729328 100644
--- a/PathPlanning/HybridAStar/a_star.py
+++ b/PathPlanning/HybridAStar/a_star.py
@@ -78,6 +78,7 @@ def dp_planning(sx, sy, gx, gy, ox, oy, reso, rr):
         # show graph
         if show_animation:  # pragma: no cover
             plt.plot(current.x * reso, current.y * reso, "xc")
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             if len(closedset.keys()) % 10 == 0:
diff --git a/PathPlanning/HybridAStar/hybrid_a_star.py b/PathPlanning/HybridAStar/hybrid_a_star.py
index 70ffcee8..8a87be85 100644
--- a/PathPlanning/HybridAStar/hybrid_a_star.py
+++ b/PathPlanning/HybridAStar/hybrid_a_star.py
@@ -327,6 +327,7 @@ def hybrid_a_star_planning(start, goal, ox, oy, xyreso, yawreso):
 
         if show_animation:  # pragma: no cover
             plt.plot(current.xlist[-1], current.ylist[-1], "xc")
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             if len(closedList.keys()) % 10 == 0:
diff --git a/PathPlanning/InformedRRTStar/informed_rrt_star.py b/PathPlanning/InformedRRTStar/informed_rrt_star.py
index ef15022a..a77b1cea 100644
--- a/PathPlanning/InformedRRTStar/informed_rrt_star.py
+++ b/PathPlanning/InformedRRTStar/informed_rrt_star.py
@@ -267,6 +267,7 @@ class InformedRRTStar:
 
     def draw_graph(self, xCenter=None, cBest=None, cMin=None, etheta=None, rnd=None):
         plt.clf()
+        # for stopping simulation with the esc key.
         plt.gcf().canvas.mpl_connect('key_release_event',
                 lambda event: [exit(0) if event.key == 'escape' else None])
         if rnd is not None:
diff --git a/PathPlanning/LQRPlanner/LQRplanner.py b/PathPlanning/LQRPlanner/LQRplanner.py
index d5cda0bc..ba01526a 100644
--- a/PathPlanning/LQRPlanner/LQRplanner.py
+++ b/PathPlanning/LQRPlanner/LQRplanner.py
@@ -54,6 +54,7 @@ class LQRPlanner:
 
             # animation
             if show_animation:  # pragma: no cover
+                # for stopping simulation with the esc key.
                 plt.gcf().canvas.mpl_connect('key_release_event',
                         lambda event: [exit(0) if event.key == 'escape' else None])
                 plt.plot(sx, sy, "or")
diff --git a/PathPlanning/LQRRRTStar/lqr_rrt_star.py b/PathPlanning/LQRRRTStar/lqr_rrt_star.py
index c1f45445..177131ac 100644
--- a/PathPlanning/LQRRRTStar/lqr_rrt_star.py
+++ b/PathPlanning/LQRRRTStar/lqr_rrt_star.py
@@ -102,6 +102,7 @@ class LQRRRTStar(RRTStar):
 
     def draw_graph(self, rnd=None):
         plt.clf()
+        # for stopping simulation with the esc key.
         plt.gcf().canvas.mpl_connect('key_release_event',
                 lambda event: [exit(0) if event.key == 'escape' else None])
         if rnd is not None:
diff --git a/PathPlanning/PotentialFieldPlanning/potential_field_planning.py b/PathPlanning/PotentialFieldPlanning/potential_field_planning.py
index 642f1cbf..31904fa4 100644
--- a/PathPlanning/PotentialFieldPlanning/potential_field_planning.py
+++ b/PathPlanning/PotentialFieldPlanning/potential_field_planning.py
@@ -98,6 +98,7 @@ def potential_field_planning(sx, sy, gx, gy, ox, oy, reso, rr):
 
     if show_animation:
         draw_heatmap(pmap)
+        # for stopping simulation with the esc key.
         plt.gcf().canvas.mpl_connect('key_release_event',
                 lambda event: [exit(0) if event.key == 'escape' else None])
         plt.plot(ix, iy, "*k")
diff --git a/PathPlanning/ProbabilisticRoadMap/probabilistic_road_map.py b/PathPlanning/ProbabilisticRoadMap/probabilistic_road_map.py
index 3fef2d0f..0a8ea037 100644
--- a/PathPlanning/ProbabilisticRoadMap/probabilistic_road_map.py
+++ b/PathPlanning/ProbabilisticRoadMap/probabilistic_road_map.py
@@ -194,6 +194,7 @@ def dijkstra_planning(sx, sy, gx, gy, ox, oy, rr, road_map, sample_x, sample_y):
 
         # show graph
         if show_animation and len(closedset.keys()) % 2 == 0:
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.plot(current.x, current.y, "xg")
diff --git a/PathPlanning/QuinticPolynomialsPlanner/quintic_polynomials_planner.py b/PathPlanning/QuinticPolynomialsPlanner/quintic_polynomials_planner.py
index b8d533d4..406dbc1e 100644
--- a/PathPlanning/QuinticPolynomialsPlanner/quintic_polynomials_planner.py
+++ b/PathPlanning/QuinticPolynomialsPlanner/quintic_polynomials_planner.py
@@ -151,6 +151,7 @@ def quintic_polynomials_planner(sx, sy, syaw, sv, sa, gx, gy, gyaw, gv, ga, max_
     if show_animation:  # pragma: no cover
         for i, _ in enumerate(time):
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.grid(True)
diff --git a/PathPlanning/RRT/rrt.py b/PathPlanning/RRT/rrt.py
index 9d0bc362..f8e99082 100644
--- a/PathPlanning/RRT/rrt.py
+++ b/PathPlanning/RRT/rrt.py
@@ -138,6 +138,7 @@ class RRT:
 
     def draw_graph(self, rnd=None):
         plt.clf()
+        # for stopping simulation with the esc key.
         plt.gcf().canvas.mpl_connect('key_release_event',
                 lambda event: [exit(0) if event.key == 'escape' else None])
         if rnd is not None:
diff --git a/PathPlanning/RRTDubins/rrt_dubins.py b/PathPlanning/RRTDubins/rrt_dubins.py
index 2a842aa4..4599904c 100644
--- a/PathPlanning/RRTDubins/rrt_dubins.py
+++ b/PathPlanning/RRTDubins/rrt_dubins.py
@@ -106,6 +106,7 @@ class RRTDubins(RRT):
 
     def draw_graph(self, rnd=None):  # pragma: no cover
         plt.clf()
+        # for stopping simulation with the esc key.
         plt.gcf().canvas.mpl_connect('key_release_event',
                 lambda event: [exit(0) if event.key == 'escape' else None])
         if rnd is not None:
diff --git a/PathPlanning/RRTStarDubins/rrt_star_dubins.py b/PathPlanning/RRTStarDubins/rrt_star_dubins.py
index d4601c0f..65fac54c 100644
--- a/PathPlanning/RRTStarDubins/rrt_star_dubins.py
+++ b/PathPlanning/RRTStarDubins/rrt_star_dubins.py
@@ -112,6 +112,7 @@ class RRTStarDubins(RRTStar):
 
     def draw_graph(self, rnd=None):
         plt.clf()
+        # for stopping simulation with the esc key.
         plt.gcf().canvas.mpl_connect('key_release_event',
                 lambda event: [exit(0) if event.key == 'escape' else None])
         if rnd is not None:
diff --git a/PathPlanning/RRTStarReedsShepp/rrt_star_reeds_shepp.py b/PathPlanning/RRTStarReedsShepp/rrt_star_reeds_shepp.py
index d37ae906..6ea66dc7 100644
--- a/PathPlanning/RRTStarReedsShepp/rrt_star_reeds_shepp.py
+++ b/PathPlanning/RRTStarReedsShepp/rrt_star_reeds_shepp.py
@@ -122,6 +122,7 @@ class RRTStarReedsShepp(RRTStar):
 
     def draw_graph(self, rnd=None):
         plt.clf()
+        # for stopping simulation with the esc key.
         plt.gcf().canvas.mpl_connect('key_release_event',
                 lambda event: [exit(0) if event.key == 'escape' else None])
         if rnd is not None:
diff --git a/PathPlanning/ReedsSheppPath/reeds_shepp_path_planning.py b/PathPlanning/ReedsSheppPath/reeds_shepp_path_planning.py
index b2f8d4a5..fbf94957 100644
--- a/PathPlanning/ReedsSheppPath/reeds_shepp_path_planning.py
+++ b/PathPlanning/ReedsSheppPath/reeds_shepp_path_planning.py
@@ -395,6 +395,7 @@ def test():
 
         if show_animation:  # pragma: no cover
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.plot(px, py, label="final course " + str(mode))
diff --git a/PathPlanning/VoronoiRoadMap/voronoi_road_map.py b/PathPlanning/VoronoiRoadMap/voronoi_road_map.py
index 86371b20..75176696 100644
--- a/PathPlanning/VoronoiRoadMap/voronoi_road_map.py
+++ b/PathPlanning/VoronoiRoadMap/voronoi_road_map.py
@@ -185,6 +185,7 @@ def dijkstra_planning(sx, sy, gx, gy, ox, oy, rr, road_map, sample_x, sample_y):
         # show graph
         if show_animation and len(closedset.keys()) % 2 == 0:  # pragma: no cover
             plt.plot(current.x, current.y, "xg")
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.pause(0.001)
diff --git a/PathTracking/cgmres_nmpc/cgmres_nmpc.py b/PathTracking/cgmres_nmpc/cgmres_nmpc.py
index 1be91b2d..98a12ab1 100644
--- a/PathTracking/cgmres_nmpc/cgmres_nmpc.py
+++ b/PathTracking/cgmres_nmpc/cgmres_nmpc.py
@@ -546,6 +546,7 @@ def animation(plant, controller, dt):
             steer = math.atan2(controller.history_u_2[t] * WB / v, 1.0)
 
         plt.cla()
+        # for stopping simulation with the esc key.
         plt.gcf().canvas.mpl_connect('key_release_event',
                 lambda event: [exit(0) if event.key == 'escape' else None])
         plt.plot(plant.history_x, plant.history_y, "-r", label="trajectory")
diff --git a/PathTracking/lqr_speed_steer_control/lqr_speed_steer_control.py b/PathTracking/lqr_speed_steer_control/lqr_speed_steer_control.py
index 0e225296..77409c7f 100644
--- a/PathTracking/lqr_speed_steer_control/lqr_speed_steer_control.py
+++ b/PathTracking/lqr_speed_steer_control/lqr_speed_steer_control.py
@@ -224,6 +224,7 @@ def do_simulation(cx, cy, cyaw, ck, speed_profile, goal):
 
         if target_ind % 1 == 0 and show_animation:
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.plot(cx, cy, "-r", label="course")
diff --git a/PathTracking/lqr_steer_control/lqr_steer_control.py b/PathTracking/lqr_steer_control/lqr_steer_control.py
index 9cc36f23..fe440a17 100644
--- a/PathTracking/lqr_steer_control/lqr_steer_control.py
+++ b/PathTracking/lqr_steer_control/lqr_steer_control.py
@@ -203,6 +203,7 @@ def closed_loop_prediction(cx, cy, cyaw, ck, speed_profile, goal):
 
         if target_ind % 1 == 0 and show_animation:
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.plot(cx, cy, "-r", label="course")
diff --git a/PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py b/PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py
index 8bff2e10..85aea2ed 100644
--- a/PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py
+++ b/PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py
@@ -429,6 +429,7 @@ def do_simulation(cx, cy, cyaw, ck, sp, dl, initial_state):
 
         if show_animation:  # pragma: no cover
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             if ox is not None:
diff --git a/PathTracking/move_to_pose/move_to_pose.py b/PathTracking/move_to_pose/move_to_pose.py
index 838b780f..685df197 100644
--- a/PathTracking/move_to_pose/move_to_pose.py
+++ b/PathTracking/move_to_pose/move_to_pose.py
@@ -93,6 +93,7 @@ def plot_vehicle(x, y, theta, x_traj, y_traj):  # pragma: no cover
 
     plt.plot(x_traj, y_traj, 'b--')
 
+    # for stopping simulation with the esc key.
     plt.gcf().canvas.mpl_connect('key_release_event',
             lambda event: [exit(0) if event.key == 'escape' else None])
 
diff --git a/PathTracking/pure_pursuit/pure_pursuit.py b/PathTracking/pure_pursuit/pure_pursuit.py
index f9624956..473feea5 100644
--- a/PathTracking/pure_pursuit/pure_pursuit.py
+++ b/PathTracking/pure_pursuit/pure_pursuit.py
@@ -166,6 +166,7 @@ def main():
 
         if show_animation:  # pragma: no cover
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plot_arrow(state.x, state.y, state.yaw)
diff --git a/PathTracking/rear_wheel_feedback/rear_wheel_feedback.py b/PathTracking/rear_wheel_feedback/rear_wheel_feedback.py
index 155eeec2..c6a35013 100644
--- a/PathTracking/rear_wheel_feedback/rear_wheel_feedback.py
+++ b/PathTracking/rear_wheel_feedback/rear_wheel_feedback.py
@@ -149,6 +149,7 @@ def closed_loop_prediction(cx, cy, cyaw, ck, speed_profile, goal):
 
         if target_ind % 1 == 0 and show_animation:
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.plot(cx, cy, "-r", label="course")
diff --git a/PathTracking/stanley_controller/stanley_controller.py b/PathTracking/stanley_controller/stanley_controller.py
index cbfa4c66..604ed93f 100644
--- a/PathTracking/stanley_controller/stanley_controller.py
+++ b/PathTracking/stanley_controller/stanley_controller.py
@@ -186,6 +186,7 @@ def main():
 
         if show_animation:  # pragma: no cover
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.plot(cx, cy, ".r", label="course")
diff --git a/SLAM/EKFSLAM/ekf_slam.py b/SLAM/EKFSLAM/ekf_slam.py
index b6698be2..4bcafef2 100644
--- a/SLAM/EKFSLAM/ekf_slam.py
+++ b/SLAM/EKFSLAM/ekf_slam.py
@@ -235,6 +235,7 @@ def main():
 
         if show_animation:  # pragma: no cover
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
 
diff --git a/SLAM/FastSLAM1/fast_slam1.py b/SLAM/FastSLAM1/fast_slam1.py
index ef128299..892010c5 100644
--- a/SLAM/FastSLAM1/fast_slam1.py
+++ b/SLAM/FastSLAM1/fast_slam1.py
@@ -365,6 +365,7 @@ def main():
 
         if show_animation:  # pragma: no cover
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.plot(RFID[:, 0], RFID[:, 1], "*k")
diff --git a/SLAM/FastSLAM2/fast_slam2.py b/SLAM/FastSLAM2/fast_slam2.py
index f8958b8c..25712fc0 100644
--- a/SLAM/FastSLAM2/fast_slam2.py
+++ b/SLAM/FastSLAM2/fast_slam2.py
@@ -390,6 +390,7 @@ def main():
 
         if show_animation:  # pragma: no cover
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.plot(RFID[:, 0], RFID[:, 1], "*k")
diff --git a/SLAM/GraphBasedSLAM/graph_based_slam.py b/SLAM/GraphBasedSLAM/graph_based_slam.py
index e73e8d0d..2a5acfab 100644
--- a/SLAM/GraphBasedSLAM/graph_based_slam.py
+++ b/SLAM/GraphBasedSLAM/graph_based_slam.py
@@ -303,6 +303,7 @@ def main():
 
             if show_animation:  # pragma: no cover
                 plt.cla()
+                # for stopping simulation with the esc key.
                 plt.gcf().canvas.mpl_connect('key_release_event',
                         lambda event: [exit(0) if event.key == 'escape' else None])
                 plt.plot(RFID[:, 0], RFID[:, 1], "*k")
diff --git a/SLAM/iterative_closest_point/iterative_closest_point.py b/SLAM/iterative_closest_point/iterative_closest_point.py
index 4a4d29eb..0b280260 100644
--- a/SLAM/iterative_closest_point/iterative_closest_point.py
+++ b/SLAM/iterative_closest_point/iterative_closest_point.py
@@ -36,6 +36,7 @@ def icp_matching(previous_points, current_points):
 
         if show_animation:  # pragma: no cover
             plt.cla()
+            # for stopping simulation with the esc key.
             plt.gcf().canvas.mpl_connect('key_release_event',
                     lambda event: [exit(0) if event.key == 'escape' else None])
             plt.plot(previous_points[0, :], previous_points[1, :], ".r")