####################
CreateChart<-function(field,costchart,startposind,goalposind){
# This function creates a pretty figure
# If there is no figure open, then create one
# if isempty(gcbf)
# f1 = figure('Position',[600 300 500 500],'Units','Normalized', ...
# 'MenuBar','none');
# Caxes2 = axes('position', [0.01 0.01 0.98 0.98],'FontSize',12, ...
# 'FontName','Helvetica');
# else
# # get the current figure, and clear it
# gcf; cla;
# end
#dev.new()
n <- nrow(field)
# plot field where walls are black, and everything else is white
costchart <-costchart
costchart[field == Inf]<- 5000
costchart[is.na(costchart)]<-0
#image(seq(1,n+1,1), seq(1,n+1,1), field, col =c("white","black"), xaxs = "i", yaxs = "i")
# set the colormap for the ploting the cost and looking really nice
colcount<- length(table(costchart))-2
jetpal<-rainbow(colcount, start = .15)
mypal<- c("#FFFFFF" ,jetpal,"#000000")
breakpoints <- round(sort(c(unique(c(costchart)), 1000)),2) -0.01
breakpoints[length(breakpoints)]<-breakpoints[length(breakpoints)] + 0.01
# make first entry be white, and last be black
# image(seq(1,n,1),seq(1,n,1), costchart, col = mypal, xaxs = "i", yaxs = "i")
# x <- matrix(rnorm(9), nrow=3, ncol=3)
# y <- matrix(rnorm(9), nrow=3, ncol=3)
# COR <- cor(x,y)
# COR
# image(x=seq(dim(x)[2]), y=seq(dim(y)[2]), z=COR, xlab="x column", ylab="y column")
# text(expand.grid(x=seq(dim(x)[2]), y=seq(dim(y)[2])), labels=round(c(COR),2))
image(seq(1,n,1),seq(1,n,1), t(costchart), col = mypal, breaks = breakpoints, xaxs = "i", yaxs = "i",xlab = "", ylab = "", axes = FALSE)
# now plot the f values for all tiles evaluated
# plot goal as a yellow square, and start as a green circle
goalposy <- ((goalposind-1)%%n) +1
goalposx <- floor((goalposind-1)/n) +1
startposy <- ((startposind-1)%%n) +1
startposx <- floor((startposind-1)/n) +1
points(goalposx,goalposy,pch = 16,col = "black");
points(startposx,startposy,pch = 16,col = "green");
abline(v=c(seq(0+0.5,n+0.5,1)), h=c(seq(0+0.5,n+.5,1)))
# end of this function
}
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