<jupyter_start><jupyter_text>Corridor Radii<jupyter_code>parameters = [3, 4, 5, 6, 7, 8]
plt.figure(figsize=(len(parameters) * 5, 5))
for i, parameter in enumerate(parameters):
    plt.subplot(1, len(parameters), i+1)
    m = MPB()
    m.set_corridor_grid_env(100, 100, branches=100, radius=parameter)
    m.set_planners(['informed_rrt_star'])
    m["max_planning_time"] = 1
    m.run(id="corridor", show_progress_bar=False, runs=1)
    run = json.load(open(m.results_filename, "r"))["runs"][0]
    plot_env(run["environment"], draw_start_goal_thetas=False, draw_start_goal=False, set_title=False)
    plt.title("$r = %g$" % parameter, fontsize=24)
plt.savefig("corridor_radii.pdf", bbox_inches='tight')
# plt.savefig("corridor_radii.png", bbox_inches='tight')<jupyter_output>Running MPB with ID corridor (log file at corridor.log)...
Running MPB with ID corridor (log file at corridor.log)...
Running MPB with ID corridor (log file at corridor.log)...
Running MPB with ID corridor (log file at corridor.log)...
Running MPB with ID corridor (log file at corridor.log)...
Running MPB with ID corridor (log file at corridor.log)...<jupyter_text>Obstacle Ratios<jupyter_code>parameters = [0.01, 0.015, 0.02, 0.025, 0.03]
plt.figure(figsize=(len(parameters) * 5, 5))
for i, parameter in enumerate(parameters):
    plt.subplot(1, len(parameters), i+1)
    m = MPB()
    m.set_random_grid_env(100, 100, obstacle_ratio=parameter)
    m.set_planners(['informed_rrt_star'])
    m["max_planning_time"] = 1
    m.run(id="corridor", show_progress_bar=False, runs=1)
    run = json.load(open(m.results_filename, "r"))["runs"][0]
    plot_env(run["environment"], draw_start_goal_thetas=False, draw_start_goal=False, set_title=False)
    plt.title("$\gamma = %g \%%$" % (parameter * 100), fontsize=24)
plt.savefig("obstacle_ratios.pdf", bbox_inches='tight')
# plt.savefig("obstacle_ratios.png", bbox_inches='tight')<jupyter_output>Running MPB with ID corridor (log file at corridor.log)...
Running MPB with ID corridor (log file at corridor.log)...
Running MPB with ID corridor (log file at corridor.log)...
Running MPB with ID corridor (log file at corridor.log)...
Running MPB with ID corridor (log file at corridor.log)...
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