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"""

Matplotlib based plotting utilities

"""

import math

import matplotlib.pyplot as plt

def plot_arrow(x, y, yaw, arrow_length=1.0,

origin_point_plot_style="xr",

head_width=0.1, fc="r", ec="k", **kwargs):

"""

Plot an arrow or arrows based on 2D state (x, y, yaw)

All optional settings of matplotlib.pyplot.arrow can be used.

- matplotlib.pyplot.arrow:

https://matplotlib.org/stable/api/_as_gen/matplotlib.pyplot.arrow.html

Parameters

----------

x : a float or array_like

a value or a list of arrow origin x position.

y : a float or array_like

a value or a list of arrow origin y position.

yaw : a float or array_like

a value or a list of arrow yaw angle (orientation).

arrow_length : a float (optional)

arrow length. default is 1.0

origin_point_plot_style : str (optional)

origin point plot style. If None, not plotting.

head_width : a float (optional)

arrow head width. default is 0.1

fc : string (optional)

face color

ec : string (optional)

edge color

"""

if not isinstance(x, float):

for (i_x, i_y, i_yaw) in zip(x, y, yaw):

plot_arrow(i_x, i_y, i_yaw, head_width=head_width,

fc=fc, ec=ec, **kwargs)

else:

plt.arrow(x, y,

arrow_length * math.cos(yaw),

arrow_length * math.sin(yaw),

head_width=head_width,

fc=fc, ec=ec,

**kwargs)

if origin_point_plot_style is not None:

plt.plot(x, y, origin_point_plot_style)