Merge pull request #259 from goktug97/close_on_key

Close on key

AerialNavigation/drone_3d_trajectory_following/Quadrotor.py

@@ -8,7 +8,6 @@ from math import cos, sin
 import numpy as np
 import matplotlib.pyplot as plt
 
-
 class Quadrotor():
     def __init__(self, x=0, y=0, z=0, roll=0, pitch=0, yaw=0, size=0.25, show_animation=True):
         self.p1 = np.array([size / 2, 0, 0, 1]).T
@@ -24,6 +23,10 @@ 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])
+
             self.ax = fig.add_subplot(111, projection='3d')
 
         self.update_pose(x, y, z, roll, pitch, yaw)

AerialNavigation/rocket_powered_landing/rocket_powered_landing.py

@@ -567,6 +567,9 @@ 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])
 
     for k in range(K):
         plt.cla()

ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation.py

@@ -162,6 +162,9 @@ 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)
             plt.show()
             plt.pause(1e-2)

ArmNavigation/arm_obstacle_navigation/arm_obstacle_navigation_2.py

@@ -193,6 +193,9 @@ 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)
             plt.show()
             plt.pause(1e-2)

ArmNavigation/n_joint_arm_to_point_control/NLinkArm.py

@@ -51,6 +51,9 @@ 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])
 
         for i in range(self.n_links + 1):
             if i is not self.n_links:

ArmNavigation/two_joint_arm_to_point_control/two_joint_arm_to_point_control.py

@@ -114,6 +114,9 @@ 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()
 
 

Bipedal/bipedal_planner/bipedal_planner.py

@@ -111,6 +111,9 @@ 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)
                         ax.set_aspect('equal', 'datalim')
 

Localization/ensemble_kalman_filter/ensemble_kalman_filter.py

@@ -213,6 +213,9 @@ 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])
 
             for i in range(len(z[:, 0])):
                 plt.plot([xTrue[0, 0], z[i, 2]], [xTrue[1, 0], z[i, 3]], "-k")

Localization/extended_kalman_filter/extended_kalman_filter.py

@@ -191,6 +191,9 @@ 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")
             plt.plot(hxTrue[0, :].flatten(),
                      hxTrue[1, :].flatten(), "-b")

Localization/histogram_filter/histogram_filter.py

@@ -233,6 +233,9 @@ 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)
             plt.plot(xTrue[0, :], xTrue[1, :], "xr")
             plt.plot(RF_ID[:, 0], RF_ID[:, 1], ".k")

Localization/particle_filter/particle_filter.py

@@ -230,6 +230,9 @@ 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])
 
             for i in range(len(z[:, 0])):
                 plt.plot([xTrue[0, 0], z[i, 1]], [xTrue[1, 0], z[i, 2]], "-k")

Localization/unscented_kalman_filter/unscented_kalman_filter.py

@@ -240,6 +240,9 @@ 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")
             plt.plot(np.array(hxTrue[0, :]).flatten(),
                      np.array(hxTrue[1, :]).flatten(), "-b")

Mapping/circle_fitting/circle_fitting.py

@@ -124,6 +124,9 @@ 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.axis("equal")
             plt.plot(0.0, 0.0, "*r")
             plot_circle(cx, cy, cr)

Mapping/gaussian_grid_map/gaussian_grid_map.py

@@ -73,6 +73,9 @@ 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])
             draw_heatmap(gmap, minx, maxx, miny, maxy, xyreso)
             plt.plot(ox, oy, "xr")
             plt.plot(0.0, 0.0, "ob")

Mapping/kmeans_clustering/kmeans_clustering.py

@@ -133,8 +133,10 @@ 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()
-
             plt.plot(cx, cy, "or")
             plt.xlim(-2.0, 10.0)
             plt.ylim(-2.0, 10.0)

Mapping/raycasting_grid_map/raycasting_grid_map.py

@@ -124,6 +124,9 @@ 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])
             draw_heatmap(pmap, minx, maxx, miny, maxy, xyreso)
             plt.plot(ox, oy, "xr")
             plt.plot(0.0, 0.0, "ob")

Mapping/rectangle_fitting/rectangle_fitting.py

@@ -242,6 +242,9 @@ 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.axis("equal")
             plt.plot(0.0, 0.0, "*r")
             v1.plot()

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)
 

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):

PathTracking/cgmres_nmpc/cgmres_nmpc.py

@@ -546,6 +546,9 @@ 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")
         plot_car(x, y, yaw, steer=steer)
         plt.axis("equal")

PathTracking/lqr_speed_steer_control/lqr_speed_steer_control.py

@@ -224,6 +224,9 @@ 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")
             plt.plot(x, y, "ob", label="trajectory")
             plt.plot(cx[target_ind], cy[target_ind], "xg", label="target")

PathTracking/lqr_steer_control/lqr_steer_control.py

@@ -203,6 +203,9 @@ 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")
             plt.plot(x, y, "ob", label="trajectory")
             plt.plot(cx[target_ind], cy[target_ind], "xg", label="target")

PathTracking/model_predictive_speed_and_steer_control/model_predictive_speed_and_steer_control.py

@@ -429,6 +429,9 @@ 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:
                 plt.plot(ox, oy, "xr", label="MPC")
             plt.plot(cx, cy, "-r", label="course")

PathTracking/move_to_pose/move_to_pose.py

@@ -93,6 +93,10 @@ 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])
+
     plt.xlim(0, 20)
     plt.ylim(0, 20)
 

PathTracking/pure_pursuit/pure_pursuit.py

@@ -166,6 +166,9 @@ 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])
             plot_arrow(state.x, state.y, state.yaw)
             plt.plot(cx, cy, "-r", label="course")
             plt.plot(x, y, "-b", label="trajectory")

PathTracking/rear_wheel_feedback/rear_wheel_feedback.py

@@ -149,6 +149,9 @@ 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")
             plt.plot(x, y, "ob", label="trajectory")
             plt.plot(cx[target_ind], cy[target_ind], "xg", label="target")

PathTracking/stanley_controller/stanley_controller.py

@@ -185,6 +185,9 @@ 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(cx, cy, ".r", label="course")
             plt.plot(x, y, "-b", label="trajectory")
             plt.plot(cx[target_idx], cy[target_idx], "xg", label="target")

SLAM/EKFSLAM/ekf_slam.py

@@ -235,6 +235,9 @@ 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(RFID[:, 0], RFID[:, 1], "*k")
             plt.plot(xEst[0], xEst[1], ".r")

SLAM/FastSLAM1/fast_slam1.py

@@ -365,6 +365,9 @@ 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(RFID[:, 0], RFID[:, 1], "*k")
 
             for i in range(N_PARTICLE):

SLAM/FastSLAM2/fast_slam2.py

@@ -390,6 +390,9 @@ 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(RFID[:, 0], RFID[:, 1], "*k")
 
             for iz in range(len(z[:, 0])):

SLAM/GraphBasedSLAM/graph_based_slam.py

@@ -303,7 +303,9 @@ 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(RFID[:, 0], RFID[:, 1], "*k")
 
                 plt.plot(hxTrue[0, :].flatten(),

SLAM/iterative_closest_point/iterative_closest_point.py

@@ -36,6 +36,9 @@ 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")
             plt.plot(current_points[0, :], current_points[1, :], ".b")
             plt.plot(0.0, 0.0, "xr")