first release universal sampling method

PathPlanning/StateLatticePlanner/matplotrecorder/.gitignore

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+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+env/
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*,cover
+.hypothesis/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# IPython Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# dotenv
+.env
+
+# virtualenv
+venv/
+ENV/
+
+# Spyder project settings
+.spyderproject
+
+# Rope project settings
+.ropeproject

PathPlanning/StateLatticePlanner/matplotrecorder/LICENSE

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+MIT License
+
+Copyright (c) 2017 Atsushi Sakai
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

PathPlanning/StateLatticePlanner/matplotrecorder/README.md

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+# matplotrecorder
+A simple Python module for recording matplotlib animation
+
+It can generate a matplotlib animation movie (mp4, gif, etc.)
+
+This tool use "convert" command of ImageMagick.
+
+# Sample gif
+
+![matplotrecorder/animation.gif at master · AtsushiSakai/matplotrecorder](https://github.com/AtsushiSakai/matplotrecorder/blob/master/animation.gif)
+
+# Requrements
+
+- [ImageMagic](https://www.imagemagick.org/script/index.php)
+
+
+# How to use
+
+Call save_frame() at each animation iteration,
+
+And then, call savemovie() for movie generation.
+
+A sample code:
+
+
+      import matplotrecorder
+
+      print("A sample recording start")
+      import math
+
+      time = range(50)
+
+      x1 = [math.cos(t / 10.0) for t in time]
+      y1 = [math.sin(t / 10.0) for t in time]
+      x2 = [math.cos(t / 10.0) + 2 for t in time]
+      y2 = [math.sin(t / 10.0) + 2 for t in time]
+
+      for ix1, iy1, ix2, iy2 in zip(x1, y1, x2, y2):
+          plt.plot(ix1, iy1, "xr")
+          plt.plot(ix2, iy2, "xb")
+          plt.axis("equal")
+          plt.pause(0.1)
+
+          matplotrecorder.save_frame()  # save each frame
+
+      # generate movie
+      matplotrecorder.save_movie("animation.mp4", 0.1)
+      #  matplotrecorder.save_movie("animation.gif", 0.1) #gif is ok.
+
+
+
+# License 
+
+MIT
+
+# Author
+
+Atsushi Sakai ([@Atsushi_twi](https://twitter.com/Atsushi_twi))
+

PathPlanning/StateLatticePlanner/matplotrecorder/matplotrecorder.py

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+"""
+ A simple Python module for recording matplotlib animation
+
+ This tool use convert command of ImageMagick
+
+ author: Atsushi Sakai
+
+ How to use:
+
+ - import
+
+    from matplotrecorder import matplotrecorder
+
+ - save file
+
+    matplotrecorder.save_frame()
+
+ - generate movie
+
+    matplotrecorder.save_movie("animation.gif", 0.1)
+
+"""
+
+import matplotlib.pyplot as plt
+import subprocess
+
+iframe = 0
+donothing = False  # switch to stop all recordering
+
+
+def save_frame():
+    """
+    Save a frame for movie
+    """
+
+    if not donothing:
+        global iframe
+        plt.savefig("recoder" + '{0:04d}'.format(iframe) + '.png')
+        iframe += 1
+
+
+def save_movie(fname, d_pause):
+    """
+    Save movie as gif
+    """
+    if not donothing:
+        cmd = "convert -delay " + str(int(d_pause * 100)) + \
+            " recoder*.png " + fname
+        subprocess.call(cmd, shell=True)
+        cmd = "rm recoder*.png"
+        subprocess.call(cmd, shell=True)
+
+
+if __name__ == '__main__':
+    print("A sample recording start")
+    import math
+
+    time = range(50)
+
+    x1 = [math.cos(t / 10.0) for t in time]
+    y1 = [math.sin(t / 10.0) for t in time]
+    x2 = [math.cos(t / 10.0) + 2 for t in time]
+    y2 = [math.sin(t / 10.0) + 2 for t in time]
+
+    for ix1, iy1, ix2, iy2 in zip(x1, y1, x2, y2):
+        plt.plot(ix1, iy1, "xr")
+        plt.plot(ix2, iy2, "xb")
+        plt.axis("equal")
+        plt.pause(0.1)
+
+        save_frame()  # save each frame
+
+    save_movie("animation.gif", 0.1)
+    #  save_movie("animation.mp4", 0.1)