Merge pull request #259 from goktug97/close_on_key

Close on key

PathPlanning/AStar/a_star.py

@@ -79,6 +79,9 @@ 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:
                     plt.pause(0.001)
 

PathPlanning/BatchInformedRRTStar/batch_informed_rrtstar.py

@@ -534,6 +534,9 @@ 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:
             if rnd is not None:
                 plt.plot(rnd[0], rnd[1], "^k")

PathPlanning/ClosedLoopRRTStar/pure_pursuit.py

@@ -135,6 +135,9 @@ 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")
             plt.plot(x, y, "ob", label="trajectory")
             plt.plot(cx[target_ind], cy[target_ind], "xg", label="target")

PathPlanning/Dijkstra/dijkstra.py

@@ -69,6 +69,9 @@ 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:
                     plt.pause(0.001)
 

PathPlanning/DubinsPath/dubins_path_planning.py

@@ -318,6 +318,9 @@ 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))
 
             #  plotting

PathPlanning/DynamicWindowApproach/dynamic_window_approach.py

@@ -268,6 +268,9 @@ 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")
             plt.plot(x[0], x[1], "xr")
             plt.plot(goal[0], goal[1], "xb")

PathPlanning/Eta3SplinePath/eta3_spline_path.py

@@ -213,6 +213,9 @@ 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)
 
     if show_animation:

PathPlanning/FrenetOptimalTrajectory/frenet_optimal_trajectory.py

@@ -347,6 +347,9 @@ 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)
             plt.plot(ob[:, 0], ob[:, 1], "xk")
             plt.plot(path.x[1:], path.y[1:], "-or")

PathPlanning/GridBasedSweepCPP/grid_based_sweep_coverage_path_planner.py

@@ -213,6 +213,9 @@ 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])
 
     while True:
         cxind, cyind = sweep_searcher.move_target_grid(cxind, cyind, gmap)
@@ -266,6 +269,9 @@ 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")
             plt.plot(px, py, "-r")
             plt.plot(ipx, ipy, "or")

PathPlanning/HybridAStar/a_star.py

@@ -78,6 +78,9 @@ 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:
                 plt.pause(0.001)
 
@@ -228,4 +231,4 @@ def main():
 
 if __name__ == '__main__':
     show_animation = True
-    main()
+    main()

PathPlanning/HybridAStar/hybrid_a_star.py

@@ -327,6 +327,9 @@ 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:
                 plt.pause(0.001)
 

PathPlanning/InformedRRTStar/informed_rrt_star.py

@@ -266,8 +266,10 @@ class InformedRRTStar:
         return path
 
     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:
             plt.plot(rnd[0], rnd[1], "^k")
             if cBest != float('inf'):

PathPlanning/LQRPlanner/LQRplanner.py

@@ -54,6 +54,9 @@ 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")
                 plt.plot(gx, gy, "ob")
                 plt.plot(rx, ry, "-r")

PathPlanning/LQRRRTStar/lqr_rrt_star.py

@@ -102,6 +102,9 @@ 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:
             plt.plot(rnd.x, rnd.y, "^k")
         for node in self.node_list:

PathPlanning/PotentialFieldPlanning/potential_field_planning.py

@@ -98,6 +98,9 @@ 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")
         plt.plot(gix, giy, "*m")
 

PathPlanning/ProbabilisticRoadMap/probabilistic_road_map.py

@@ -194,6 +194,9 @@ 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")
             plt.pause(0.001)
 

PathPlanning/QuinticPolynomialsPlanner/quintic_polynomials_planner.py

@@ -151,6 +151,9 @@ 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)
             plt.axis("equal")
             plot_arrow(sx, sy, syaw)

PathPlanning/RRT/rrt.py

@@ -138,6 +138,9 @@ 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:
             plt.plot(rnd.x, rnd.y, "^k")
         for node in self.node_list:

PathPlanning/RRTDubins/rrt_dubins.py

@@ -106,6 +106,9 @@ 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:
             plt.plot(rnd.x, rnd.y, "^k")
         for node in self.node_list:

PathPlanning/RRTStarDubins/rrt_star_dubins.py

@@ -112,6 +112,9 @@ 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:
             plt.plot(rnd.x, rnd.y, "^k")
         for node in self.node_list:

PathPlanning/RRTStarReedsShepp/rrt_star_reeds_shepp.py

@@ -122,6 +122,9 @@ 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:
             plt.plot(rnd.x, rnd.y, "^k")
         for node in self.node_list:

PathPlanning/ReedsSheppPath/reeds_shepp_path_planning.py

@@ -395,6 +395,9 @@ 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))
 
             #  plotting

PathPlanning/VoronoiRoadMap/voronoi_road_map.py

@@ -185,6 +185,9 @@ 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)
 
         if c_id == (len(road_map) - 1):