Close on key

[goktug97]

If the plot is dynamic such that the plt.pause is used to show the plot, it doesn't let you use the terminal if you are using a window manager such as i3. You have to spam Ctrl+C while clicking to the terminal to close early. Added

plt.gcf().canvas.mpl_connect('key_release_event',
        lambda event: [exit(0) if event.key == 'escape' else None])

statement to every script that uses plt.pause to create dynamic plots, if the plots are static and drawn only once, the statements is not added. Now the scripts can be closed by pressing ESC.

[coveralls]

Pull Request Test Coverage Report for Build 1111

• 0 of 20 (0.0%) changed or added relevant lines in 20 files are covered.
• 6 unchanged lines in 5 files lost coverage.
• Overall coverage decreased (-0.01%) to 90.193%

---

Changes Missing Coverage	Covered Lines	Changed/Added Lines	%
AerialNavigation/drone_3d_trajectory_following/Quadrotor.py	0	1	0.0%
Localization/extended_kalman_filter/extended_kalman_filter.py	0	1	0.0%
Localization/histogram_filter/histogram_filter.py	0	1	0.0%
Localization/particle_filter/particle_filter.py	0	1	0.0%
Localization/unscented_kalman_filter/unscented_kalman_filter.py	0	1	0.0%
PathPlanning/BatchInformedRRTStar/batch_informed_rrtstar.py	0	1	0.0%
PathPlanning/DubinsPath/dubins_path_planning.py	0	1	0.0%
PathPlanning/DynamicWindowApproach/dynamic_window_approach.py	0	1	0.0%
PathPlanning/Eta3SplinePath/eta3_spline_path.py	0	1	0.0%
PathPlanning/GridBasedSweepCPP/grid_based_sweep_coverage_path_planner.py	0	1	0.0%

Files with Coverage Reduction	New Missed Lines	%
AerialNavigation/drone_3d_trajectory_following/Quadrotor.py	1	69.23%
PathPlanning/DubinsPath/dubins_path_planning.py	1	89.27%
PathPlanning/Eta3SplinePath/eta3_spline_path.py	1	84.83%
PathPlanning/InformedRRTStar/informed_rrt_star.py	1	86.83%
PathPlanning/ReedsSheppPath/reeds_shepp_path_planning.py	2	91.14%

Totals
Change from base Build 1108:	-0.01%
Covered Lines:	6723
Relevant Lines:	7454

---

💛 - Coveralls

[AtsushiSakai]

@goktug97 Thank you for interesting PR. Can I ask a question?.

It doesn't let you use the terminal if you are using a window manager such as i3

Do you want to use terminal during simulation? I don't know whether it is useful or not because I am not a user of i3.

[goktug97]

@goktug97 Thank you for interesting PR. Can I ask a question?.

It doesn't let you use the terminal if you are using a window manager such as i3

Do you want to use terminal during simulation? I don't know whether it is useful or not because I am not a user of i3.

I don't need to use a terminal but if I want to use one, I can change to another workspace. The problem is, if I want to close the simulation it is a little bit hard and annoying because the matplotlib plot changes the focus so I need to click to the terminal and press Ctrl + C at the same time.

[AtsushiSakai]

@goktug97 OK. I got it. I would like to merge this PR, but I have a request. Please check the review.

[goktug97]

from pathlib import Path

string = 'mpl_connect'
for filename in Path('PythonRobotics').rglob('*.py'):
    f = open(filename, 'r')
    with open(filename, 'r') as f:
        lines = f.readlines()
    numbers = []
    for i, line in enumerate(lines):
        if string in line:
            numbers.append(i)
    for number in reversed(numbers):
        ws = len(lines[number]) - len(lines[number].lstrip(' '))
        lines.insert(number, (ws * ' ') + '# for stopping simulation with the esc key.\n')
    with open(filename, 'w') as f:
        f.writelines(lines)

Kind of back fired but done.

[AtsushiSakai]

@goktug97 Thank you!!