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mapIllustrateNode.m
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mapIllustrateNode.m
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function mapIllustrateNode(map_size, obstacle, tree, path, start, goal, algo_name)
clf;
% Map
title(sprintf('%s Path Planning Map', algo_name));
axis([0, map_size(1), 0, map_size(2)]);
xlabel('x'); ylabel('y');
for s = 1 : size(obstacle, 1)
rectangle('position', [obstacle(s,1),obstacle(s,2),obstacle(s,3),obstacle(s,4)],...
'facecolor', 'black');
hold on;
end
% Tree
if ~isempty(tree)
for t = 1 : length(tree)
%scatter(tree(t).x, tree(t).y, 25, 'filled', 'MarkerFaceColor','#80B3FF');
if tree(t).parent_id > 0
plot([tree(t).x, tree(tree(t).parent_id).x],...
[tree(t).y, tree(tree(t).parent_id).y,],...
'Marker', '.', 'Color', '#80B3FF');
hold on;
end
end
end
% Path
if ~isempty(path)
% path
for p = 2 : length(path)
plot([path(p).x, path(p-1).x], [path(p).y, path(p-1).y], 'LineWidth', 2.5, 'Color', 'blue');
hold on;
end
end
% Start / Goal
scatter(start(1), start(2), 65, 'filled', 'green');
hold on;
scatter(goal(1), goal(2), 65, 'filled', 'red');
hold on;
end