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option.m
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% MIT License (modified)
%
% Copyright (c) 2020 The Trustees of the University of Pennsylvania
% Authors:
% Vasileios Vasilopoulos <[email protected]>
% Omur Arslan <[email protected]>
%
% Permission is hereby granted, free of charge, to any person obtaining a copy
% of this **file** (the "Software"), to deal
% in the Software without restriction, including without limitation the rights
% to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
% copies of the Software, and to permit persons to whom the Software is
% furnished to do so, subject to the following conditions:
%
% The above copyright notice and this permission notice shall be included in all
% copies or substantial portions of the Software.
%
% THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
% IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
% FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
% AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
% LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
% OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
% SOFTWARE.
% Simulation Visualization options
%
function Option = option(ScenarioID)
% Bounding box coordinates
Scenario = scenario(ScenarioID);
xMin = min(Scenario.Map.Boundary(:,1)) - Scenario.Robot.Radius;
xMax = max(Scenario.Map.Boundary(:,1)) + Scenario.Robot.Radius;
yMin = min(Scenario.Map.Boundary(:,2)) - Scenario.Robot.Radius;
yMax = max(Scenario.Map.Boundary(:,2)) + Scenario.Robot.Radius;
switch ScenarioID
case 1
Option.Figure = {'Position', [500 200 2000 480]};
Option.Figure = {Option.Figure{:}, 'Color', [1 1 1]};
Option.Figure = {Option.Figure{:}, 'Renderer', 'OpenGL'};
Option.FigureRRT = {'Position', [500 200 800 480]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Color', [1 1 1]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Renderer', 'OpenGL'};
Option.Axis = {'DataAspectRatio', [1 1 1], 'DataAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'PlotBoxAspectRatio', [1 1 1], 'PlotBoxAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'Box', 'on'};
Option.Axis = {Option.Axis{:}, 'GridLineStyle', '-', 'GridColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XGrid', 'on', 'XColor', 'k'};
Option.Axis = {Option.Axis{:}, 'YGrid', 'on', 'YColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XLim', [xMin xMax], 'YLim', [yMin yMax]};
Option.Axis = {Option.Axis{:}, 'XTick', ceil(xMin):1:floor(xMax), 'XTickLabel', []};
Option.Axis = {Option.Axis{:}, 'YTick', ceil(yMin):1:floor(yMax), 'YTickLabel', []};
Option.AxisRRT = {Option.Axis{:}, 'Position', [0.025,0.001,0.95,0.998]};
Option.Axis1 = {Option.Axis{:}, 'Position', [0.025,0.001,0.20,0.998]};
Option.Axis2 = {Option.Axis{:}, 'Position', [0.275,0.001,0.20,0.998]};
Option.Axis3 = {Option.Axis{:}, 'Position', [0.525,0.001,0.20,0.998]};
Option.Axis4 = {Option.Axis{:}, 'Position', [0.775,0.001,0.20,0.998]};
Option.Boundary = {'FaceColor', 'none', 'EdgeColor', 'k', 'LineWidth', 2};
Option.BoundaryObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.FOV = {'FaceColor', [0.85,0.325,0.098], 'EdgeColor', 'none', 'FaceAlpha', 0.5};
Option.RRTpoint = {'.b','MarkerSize',10};
Option.RRTline = {'Color',[0.5 0.5 0.5], 'LineWidth', 0.08};
Option.RRTpath = {'Color', 'r', 'LineWidth', 3};
Option.KnownObstacle = {'FaceColor', 0.35*[1,1,1], 'EdgeColor', 'none'};
Option.UnknownObstacle = {'FaceColor', 0.55*[1,1,1], 'EdgeColor', 'none'};
Option.DiscoveredObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.DiscoveredObstacleDilated = {'FaceColor', [0.7 0.7 0.7], 'EdgeColor', 'none'};
Option.SemanticObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0, 'FaceAlpha', 0.2};
Option.MappedObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0};
Option.Robot = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Wheel = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.Start = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Goal = {'FaceColor', 'm', 'EdgeColor', 'none'};
Option.Path = {'Color', [0, 0.4470, 0.7410], 'LineWidth', 3};
Option.PathTransformed = {'Color', 'r', 'LineWidth', 3};
Option.LocalWorkspace = {'FaceColor', 'y', 'FaceAlpha', 0.5, 'EdgeColor', 'y'};
Option.LocalFreespace = {'FaceColor', 'g', 'FaceAlpha', 0.5, 'EdgeColor', 'g'};
Option.LocalGoalAngular = {'MarkerFaceColor','m'};
Option.LocalGoalLinear = {'MarkerFaceColor', 'c'};
Option.LocalGoal = {'MarkerFaceColor','m'};
Option.FrameRate = 20;
case 2
Option.Figure = {'Position', [500 200 2000 480]};
Option.Figure = {Option.Figure{:}, 'Color', [1 1 1]};
Option.Figure = {Option.Figure{:}, 'Renderer', 'OpenGL'};
Option.FigureRRT = {'Position', [500 200 800 480]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Color', [1 1 1]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Renderer', 'OpenGL'};
Option.Axis = {'DataAspectRatio', [1 1 1], 'DataAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'PlotBoxAspectRatio', [1 1 1], 'PlotBoxAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'Box', 'on'};
Option.Axis = {Option.Axis{:}, 'GridLineStyle', '-', 'GridColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XGrid', 'on', 'XColor', 'k'};
Option.Axis = {Option.Axis{:}, 'YGrid', 'on', 'YColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XLim', [xMin xMax], 'YLim', [yMin yMax]};
Option.Axis = {Option.Axis{:}, 'XTick', ceil(xMin):1:floor(xMax), 'XTickLabel', []};
Option.Axis = {Option.Axis{:}, 'YTick', ceil(yMin):1:floor(yMax), 'YTickLabel', []};
Option.AxisRRT = {Option.Axis{:}, 'Position', [0.025,0.001,0.95,0.998]};
Option.Axis1 = {Option.Axis{:}, 'Position', [0.025,0.001,0.20,0.998]};
Option.Axis2 = {Option.Axis{:}, 'Position', [0.275,0.001,0.20,0.998]};
Option.Axis3 = {Option.Axis{:}, 'Position', [0.525,0.001,0.20,0.998]};
Option.Axis4 = {Option.Axis{:}, 'Position', [0.775,0.001,0.20,0.998]};
Option.Boundary = {'FaceColor', 'none', 'EdgeColor', 'k', 'LineWidth', 2};
Option.BoundaryObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.FOV = {'FaceColor', [0.85,0.325,0.098], 'EdgeColor', 'none', 'FaceAlpha', 0.5};
Option.RRTpoint = {'.b','MarkerSize',10};
Option.RRTline = {'Color',[0.5 0.5 0.5], 'LineWidth', 0.08};
Option.RRTpath = {'Color', 'r', 'LineWidth', 3};
Option.KnownObstacle = {'FaceColor', 0.35*[1,1,1], 'EdgeColor', 'none'};
Option.UnknownObstacle = {'FaceColor', 0.55*[1,1,1], 'EdgeColor', 'none'};
Option.DiscoveredObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.DiscoveredObstacleDilated = {'FaceColor', [0.7 0.7 0.7], 'EdgeColor', 'none'};
Option.SemanticObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0, 'FaceAlpha', 0.2};
Option.MappedObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0};
Option.Robot = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Wheel = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.Start = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Goal = {'FaceColor', 'm', 'EdgeColor', 'none'};
Option.Path = {'Color', [0, 0.4470, 0.7410], 'LineWidth', 3};
Option.PathTransformed = {'Color', 'r', 'LineWidth', 3};
Option.LocalWorkspace = {'FaceColor', 'y', 'FaceAlpha', 0.5, 'EdgeColor', 'y'};
Option.LocalFreespace = {'FaceColor', 'g', 'FaceAlpha', 0.5, 'EdgeColor', 'g'};
Option.LocalGoalAngular = {'MarkerFaceColor','m'};
Option.LocalGoalLinear = {'MarkerFaceColor', 'c'};
Option.LocalGoal = {'MarkerFaceColor','m'};
Option.FrameRate = 20;
case 3
Option.Figure = {'Position', [500 200 2000 480]};
Option.Figure = {Option.Figure{:}, 'Color', [1 1 1]};
Option.Figure = {Option.Figure{:}, 'Renderer', 'OpenGL'};
Option.FigureRRT = {'Position', [500 200 800 480]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Color', [1 1 1]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Renderer', 'OpenGL'};
Option.Axis = {'DataAspectRatio', [1 1 1], 'DataAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'PlotBoxAspectRatio', [1 1 1], 'PlotBoxAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'Box', 'on'};
Option.Axis = {Option.Axis{:}, 'GridLineStyle', '-', 'GridColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XGrid', 'on', 'XColor', 'k'};
Option.Axis = {Option.Axis{:}, 'YGrid', 'on', 'YColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XLim', [xMin xMax], 'YLim', [yMin yMax]};
Option.Axis = {Option.Axis{:}, 'XTick', ceil(xMin):1:floor(xMax), 'XTickLabel', []};
Option.Axis = {Option.Axis{:}, 'YTick', ceil(yMin):1:floor(yMax), 'YTickLabel', []};
Option.AxisRRT = {Option.Axis{:}, 'Position', [0.025,0.001,0.95,0.998]};
Option.Axis1 = {Option.Axis{:}, 'Position', [0.025,0.001,0.20,0.998]};
Option.Axis2 = {Option.Axis{:}, 'Position', [0.275,0.001,0.20,0.998]};
Option.Axis3 = {Option.Axis{:}, 'Position', [0.525,0.001,0.20,0.998]};
Option.Axis4 = {Option.Axis{:}, 'Position', [0.775,0.001,0.20,0.998]};
Option.Boundary = {'FaceColor', 'none', 'EdgeColor', 'k', 'LineWidth', 2};
Option.BoundaryObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.FOV = {'FaceColor', [0.85,0.325,0.098], 'EdgeColor', 'none', 'FaceAlpha', 0.5};
Option.RRTpoint = {'.b','MarkerSize',10};
Option.RRTline = {'Color',[0.5 0.5 0.5], 'LineWidth', 0.08};
Option.RRTpath = {'Color', 'r', 'LineWidth', 3};
Option.KnownObstacle = {'FaceColor', 0.35*[1,1,1], 'EdgeColor', 'none'};
Option.UnknownObstacle = {'FaceColor', 0.55*[1,1,1], 'EdgeColor', 'none'};
Option.DiscoveredObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.DiscoveredObstacleDilated = {'FaceColor', [0.7 0.7 0.7], 'EdgeColor', 'none'};
Option.SemanticObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0, 'FaceAlpha', 0.2};
Option.MappedObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0};
Option.Robot = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Wheel = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.Start = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Goal = {'FaceColor', 'm', 'EdgeColor', 'none'};
Option.Path = {'Color', [0, 0.4470, 0.7410], 'LineWidth', 3};
Option.PathTransformed = {'Color', 'r', 'LineWidth', 3};
Option.LocalWorkspace = {'FaceColor', 'y', 'FaceAlpha', 0.5, 'EdgeColor', 'y'};
Option.LocalFreespace = {'FaceColor', 'g', 'FaceAlpha', 0.5, 'EdgeColor', 'g'};
Option.LocalGoalAngular = {'MarkerFaceColor','m'};
Option.LocalGoalLinear = {'MarkerFaceColor', 'c'};
Option.LocalGoal = {'MarkerFaceColor','m'};
Option.FrameRate = 20;
case 4
Option.Figure = {'Position', [500 200 2000 480]};
Option.Figure = {Option.Figure{:}, 'Color', [1 1 1]};
Option.Figure = {Option.Figure{:}, 'Renderer', 'OpenGL'};
Option.FigureRRT = {'Position', [500 200 800 480]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Color', [1 1 1]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Renderer', 'OpenGL'};
Option.Axis = {'DataAspectRatio', [1 1 1], 'DataAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'PlotBoxAspectRatio', [1 1 1], 'PlotBoxAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'Box', 'on'};
Option.Axis = {Option.Axis{:}, 'GridLineStyle', '-', 'GridColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XGrid', 'on', 'XColor', 'k'};
Option.Axis = {Option.Axis{:}, 'YGrid', 'on', 'YColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XLim', [xMin xMax], 'YLim', [yMin yMax]};
Option.Axis = {Option.Axis{:}, 'XTick', ceil(xMin):1:floor(xMax), 'XTickLabel', []};
Option.Axis = {Option.Axis{:}, 'YTick', ceil(yMin):1:floor(yMax), 'YTickLabel', []};
Option.AxisRRT = {Option.Axis{:}, 'Position', [0.025,0.001,0.95,0.998]};
Option.Axis1 = {Option.Axis{:}, 'Position', [0.025,0.001,0.20,0.998]};
Option.Axis2 = {Option.Axis{:}, 'Position', [0.275,0.001,0.20,0.998]};
Option.Axis3 = {Option.Axis{:}, 'Position', [0.525,0.001,0.20,0.998]};
Option.Axis4 = {Option.Axis{:}, 'Position', [0.775,0.001,0.20,0.998]};
Option.Boundary = {'FaceColor', 'none', 'EdgeColor', 'k', 'LineWidth', 2};
Option.BoundaryObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.FOV = {'FaceColor', [0.85,0.325,0.098], 'EdgeColor', 'none', 'FaceAlpha', 0.5};
Option.RRTpoint = {'.b','MarkerSize',10};
Option.RRTline = {'Color',[0.5 0.5 0.5], 'LineWidth', 0.08};
Option.RRTpath = {'Color', 'r', 'LineWidth', 3};
Option.KnownObstacle = {'FaceColor', 0.35*[1,1,1], 'EdgeColor', 'none'};
Option.UnknownObstacle = {'FaceColor', 0.55*[1,1,1], 'EdgeColor', 'none'};
Option.DiscoveredObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.DiscoveredObstacleDilated = {'FaceColor', [0.7 0.7 0.7], 'EdgeColor', 'none'};
Option.SemanticObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0, 'FaceAlpha', 0.2};
Option.MappedObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0};
Option.Robot = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Wheel = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.Start = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Goal = {'FaceColor', 'm', 'EdgeColor', 'none'};
Option.Path = {'Color', [0, 0.4470, 0.7410], 'LineWidth', 3};
Option.PathTransformed = {'Color', 'r', 'LineWidth', 5};
Option.LocalWorkspace = {'FaceColor', 'y', 'FaceAlpha', 0.5, 'EdgeColor', 'y'};
Option.LocalFreespace = {'FaceColor', 'g', 'FaceAlpha', 0.5, 'EdgeColor', 'g'};
Option.LocalGoalAngular = {'MarkerFaceColor','m'};
Option.LocalGoalLinear = {'MarkerFaceColor', 'c'};
Option.LocalGoal = {'MarkerFaceColor','m'};
Option.FrameRate = 5;
case 5
Option.Figure = {'Position', [500 200 2000 480]};
Option.Figure = {Option.Figure{:}, 'Color', [1 1 1]};
Option.Figure = {Option.Figure{:}, 'Renderer', 'OpenGL'};
Option.FigureRRT = {'Position', [500 200 800 480]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Color', [1 1 1]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Renderer', 'OpenGL'};
Option.Axis = {'DataAspectRatio', [1 1 1], 'DataAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'PlotBoxAspectRatio', [1 1 1], 'PlotBoxAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'Box', 'on'};
Option.Axis = {Option.Axis{:}, 'GridLineStyle', '-', 'GridColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XGrid', 'on', 'XColor', 'k'};
Option.Axis = {Option.Axis{:}, 'YGrid', 'on', 'YColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XLim', [xMin xMax], 'YLim', [yMin yMax]};
Option.Axis = {Option.Axis{:}, 'XTick', ceil(xMin):1:floor(xMax), 'XTickLabel', []};
Option.Axis = {Option.Axis{:}, 'YTick', ceil(yMin):1:floor(yMax), 'YTickLabel', []};
Option.AxisRRT = {Option.Axis{:}, 'Position', [0.025,0.001,0.95,0.998]};
Option.Axis1 = {Option.Axis{:}, 'Position', [0.025,0.001,0.20,0.998]};
Option.Axis2 = {Option.Axis{:}, 'Position', [0.275,0.001,0.20,0.998]};
Option.Axis3 = {Option.Axis{:}, 'Position', [0.525,0.001,0.20,0.998]};
Option.Axis4 = {Option.Axis{:}, 'Position', [0.775,0.001,0.20,0.998]};
Option.Boundary = {'FaceColor', 'none', 'EdgeColor', 'k', 'LineWidth', 2};
Option.BoundaryObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.FOV = {'FaceColor', [0.85,0.325,0.098], 'EdgeColor', 'none', 'FaceAlpha', 0.5};
Option.RRTpoint = {'.b','MarkerSize',10};
Option.RRTline = {'Color',[0.5 0.5 0.5], 'LineWidth', 0.08};
Option.RRTpath = {'Color', 'r', 'LineWidth', 3};
Option.KnownObstacle = {'FaceColor', 0.35*[1,1,1], 'EdgeColor', 'none'};
Option.UnknownObstacle = {'FaceColor', 0.55*[1,1,1], 'EdgeColor', 'none'};
Option.DiscoveredObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.DiscoveredObstacleDilated = {'FaceColor', [0.7 0.7 0.7], 'EdgeColor', 'none'};
Option.SemanticObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0, 'FaceAlpha', 0.2};
Option.MappedObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0};
Option.Robot = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Wheel = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.Start = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Goal = {'FaceColor', 'm', 'EdgeColor', 'none'};
Option.Path = {'Color', [0, 0.4470, 0.7410], 'LineWidth', 3};
Option.PathTransformed = {'Color', 'r', 'LineWidth', 5};
Option.LocalWorkspace = {'FaceColor', 'y', 'FaceAlpha', 0.5, 'EdgeColor', 'y'};
Option.LocalFreespace = {'FaceColor', 'g', 'FaceAlpha', 0.5, 'EdgeColor', 'g'};
Option.LocalGoalAngular = {'MarkerFaceColor','m'};
Option.LocalGoalLinear = {'MarkerFaceColor', 'c'};
Option.LocalGoal = {'MarkerFaceColor','m'};
Option.FrameRate = 20;
case 6
Option.Figure = {'Position', [500 200 2000 480]};
Option.Figure = {Option.Figure{:}, 'Color', [1 1 1]};
Option.Figure = {Option.Figure{:}, 'Renderer', 'OpenGL'};
Option.FigureRRT = {'Position', [500 200 800 480]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Color', [1 1 1]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Renderer', 'OpenGL'};
Option.Axis = {'DataAspectRatio', [1 1 1], 'DataAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'PlotBoxAspectRatio', [1 1 1], 'PlotBoxAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'Box', 'on'};
Option.Axis = {Option.Axis{:}, 'GridLineStyle', '-', 'GridColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XGrid', 'on', 'XColor', 'k'};
Option.Axis = {Option.Axis{:}, 'YGrid', 'on', 'YColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XLim', [xMin xMax], 'YLim', [yMin yMax]};
Option.Axis = {Option.Axis{:}, 'XTick', ceil(xMin):1:floor(xMax), 'XTickLabel', []};
Option.Axis = {Option.Axis{:}, 'YTick', ceil(yMin):1:floor(yMax), 'YTickLabel', []};
Option.AxisRRT = {Option.Axis{:}, 'Position', [0.025,0.001,0.95,0.998]};
Option.Axis1 = {Option.Axis{:}, 'Position', [0.025,0.001,0.20,0.998]};
Option.Axis2 = {Option.Axis{:}, 'Position', [0.275,0.001,0.20,0.998]};
Option.Axis3 = {Option.Axis{:}, 'Position', [0.525,0.001,0.20,0.998]};
Option.Axis4 = {Option.Axis{:}, 'Position', [0.775,0.001,0.20,0.998]};
Option.Boundary = {'FaceColor', 'none', 'EdgeColor', 'k', 'LineWidth', 2};
Option.BoundaryObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.FOV = {'FaceColor', [0.85,0.325,0.098], 'EdgeColor', 'none', 'FaceAlpha', 0.5};
Option.RRTpoint = {'.b','MarkerSize',10};
Option.RRTline = {'Color',[0.5 0.5 0.5], 'LineWidth', 0.08};
Option.RRTpath = {'Color', 'r', 'LineWidth', 3};
Option.KnownObstacle = {'FaceColor', 0.35*[1,1,1], 'EdgeColor', 'none'};
Option.UnknownObstacle = {'FaceColor', 0.55*[1,1,1], 'EdgeColor', 'none'};
Option.DiscoveredObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.DiscoveredObstacleDilated = {'FaceColor', [0.7 0.7 0.7], 'EdgeColor', 'none'};
Option.SemanticObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0, 'FaceAlpha', 0.2};
Option.MappedObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0};
Option.Robot = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Wheel = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.Start = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Goal = {'FaceColor', 'm', 'EdgeColor', 'none'};
Option.Path = {'Color', [0, 0.4470, 0.7410], 'LineWidth', 3};
Option.PathTransformed = {'Color', 'r', 'LineWidth', 5};
Option.LocalWorkspace = {'FaceColor', 'y', 'FaceAlpha', 0.5, 'EdgeColor', 'y'};
Option.LocalFreespace = {'FaceColor', 'g', 'FaceAlpha', 0.5, 'EdgeColor', 'g'};
Option.LocalGoalAngular = {'MarkerFaceColor','m'};
Option.LocalGoalLinear = {'MarkerFaceColor', 'c'};
Option.LocalGoal = {'MarkerFaceColor','m'};
Option.FrameRate = 20;
case 7
Option.Figure = {'Position', [500 200 2000 480]};
Option.Figure = {Option.Figure{:}, 'Color', [1 1 1]};
Option.Figure = {Option.Figure{:}, 'Renderer', 'OpenGL'};
Option.FigureRRT = {'Position', [500 200 800 480]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Color', [1 1 1]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Renderer', 'OpenGL'};
Option.Axis = {'DataAspectRatio', [1 1 1], 'DataAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'PlotBoxAspectRatio', [1 1 1], 'PlotBoxAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'Box', 'on'};
Option.Axis = {Option.Axis{:}, 'GridLineStyle', '-', 'GridColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XGrid', 'on', 'XColor', 'k'};
Option.Axis = {Option.Axis{:}, 'YGrid', 'on', 'YColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XLim', [xMin xMax], 'YLim', [yMin yMax]};
Option.Axis = {Option.Axis{:}, 'XTick', ceil(xMin):1:floor(xMax), 'XTickLabel', []};
Option.Axis = {Option.Axis{:}, 'YTick', ceil(yMin):1:floor(yMax), 'YTickLabel', []};
Option.AxisRRT = {Option.Axis{:}, 'Position', [0.025,0.001,0.95,0.998]};
Option.Axis1 = {Option.Axis{:}, 'Position', [0.025,0.001,0.20,0.998]};
Option.Axis2 = {Option.Axis{:}, 'Position', [0.275,0.001,0.20,0.998]};
Option.Axis3 = {Option.Axis{:}, 'Position', [0.525,0.001,0.20,0.998]};
Option.Axis4 = {Option.Axis{:}, 'Position', [0.775,0.001,0.20,0.998]};
Option.Boundary = {'FaceColor', 'none', 'EdgeColor', 'k', 'LineWidth', 2};
Option.BoundaryObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.FOV = {'FaceColor', [0.85,0.325,0.098], 'EdgeColor', 'none', 'FaceAlpha', 0.5};
Option.RRTpoint = {'.b','MarkerSize',10};
Option.RRTline = {'Color',[0.5 0.5 0.5], 'LineWidth', 0.08};
Option.RRTpath = {'Color', 'r', 'LineWidth', 3};
Option.KnownObstacle = {'FaceColor', 0.35*[1,1,1], 'EdgeColor', 'none'};
Option.UnknownObstacle = {'FaceColor', 0.55*[1,1,1], 'EdgeColor', 'none'};
Option.DiscoveredObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.DiscoveredObstacleDilated = {'FaceColor', [0.7 0.7 0.7], 'EdgeColor', 'none'};
Option.SemanticObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0, 'FaceAlpha', 0.2};
Option.MappedObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0};
Option.Robot = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Wheel = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.Start = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Goal = {'FaceColor', 'm', 'EdgeColor', 'none'};
Option.Path = {'Color', [0, 0.4470, 0.7410], 'LineWidth', 3};
Option.PathTransformed = {'Color', 'r', 'LineWidth', 5};
Option.LocalWorkspace = {'FaceColor', 'y', 'FaceAlpha', 0.5, 'EdgeColor', 'y'};
Option.LocalFreespace = {'FaceColor', 'g', 'FaceAlpha', 0.5, 'EdgeColor', 'g'};
Option.LocalGoalAngular = {'MarkerFaceColor','m'};
Option.LocalGoalLinear = {'MarkerFaceColor', 'c'};
Option.LocalGoal = {'MarkerFaceColor','m'};
Option.FrameRate = 20;
case 8
Option.Figure = {'Position', [500 200 2000 480]};
Option.Figure = {Option.Figure{:}, 'Color', [1 1 1]};
Option.Figure = {Option.Figure{:}, 'Renderer', 'OpenGL'};
Option.FigureRRT = {'Position', [500 200 800 480]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Color', [1 1 1]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Renderer', 'OpenGL'};
Option.Axis = {'DataAspectRatio', [1 1 1], 'DataAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'PlotBoxAspectRatio', [1 1 1], 'PlotBoxAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'Box', 'on'};
Option.Axis = {Option.Axis{:}, 'GridLineStyle', '-', 'GridColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XGrid', 'on', 'XColor', 'k'};
Option.Axis = {Option.Axis{:}, 'YGrid', 'on', 'YColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XLim', [xMin xMax], 'YLim', [yMin yMax]};
Option.Axis = {Option.Axis{:}, 'XTick', ceil(xMin):1:floor(xMax), 'XTickLabel', []};
Option.Axis = {Option.Axis{:}, 'YTick', ceil(yMin):1:floor(yMax), 'YTickLabel', []};
Option.AxisRRT = {Option.Axis{:}, 'Position', [0.025,0.001,0.95,0.998]};
Option.Axis1 = {Option.Axis{:}, 'Position', [0.025,0.001,0.20,0.998]};
Option.Axis2 = {Option.Axis{:}, 'Position', [0.275,0.001,0.20,0.998]};
Option.Axis3 = {Option.Axis{:}, 'Position', [0.525,0.001,0.20,0.998]};
Option.Axis4 = {Option.Axis{:}, 'Position', [0.775,0.001,0.20,0.998]};
Option.Boundary = {'FaceColor', 'none', 'EdgeColor', 'k', 'LineWidth', 2};
Option.BoundaryObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.FOV = {'FaceColor', [0.85,0.325,0.098], 'EdgeColor', 'none', 'FaceAlpha', 0.5};
Option.RRTpoint = {'.b','MarkerSize',10};
Option.RRTline = {'Color',[0.5 0.5 0.5], 'LineWidth', 0.08};
Option.RRTpath = {'Color', 'r', 'LineWidth', 3};
Option.KnownObstacle = {'FaceColor', 0.35*[1,1,1], 'EdgeColor', 'none'};
Option.UnknownObstacle = {'FaceColor', 0.55*[1,1,1], 'EdgeColor', 'none'};
Option.DiscoveredObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.DiscoveredObstacleDilated = {'FaceColor', [0.7 0.7 0.7], 'EdgeColor', 'none'};
Option.SemanticObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0, 'FaceAlpha', 0.2};
Option.MappedObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0};
Option.Robot = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Wheel = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.Start = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Goal = {'FaceColor', 'm', 'EdgeColor', 'none'};
Option.Path = {'Color', [0, 0.4470, 0.7410], 'LineWidth', 3};
Option.PathTransformed = {'Color', 'r', 'LineWidth', 5};
Option.LocalWorkspace = {'FaceColor', 'y', 'FaceAlpha', 0.5, 'EdgeColor', 'y'};
Option.LocalFreespace = {'FaceColor', 'g', 'FaceAlpha', 0.5, 'EdgeColor', 'g'};
Option.LocalGoalAngular = {'MarkerFaceColor','m'};
Option.LocalGoalLinear = {'MarkerFaceColor', 'c'};
Option.LocalGoal = {'MarkerFaceColor','m'};
Option.FrameRate = 20;
case 9
Option.Figure = {'Position', [500 200 2000 480]};
Option.Figure = {Option.Figure{:}, 'Color', [1 1 1]};
Option.Figure = {Option.Figure{:}, 'Renderer', 'OpenGL'};
Option.FigureRRT = {'Position', [500 200 800 480]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Color', [1 1 1]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Renderer', 'OpenGL'};
Option.Axis = {'DataAspectRatio', [1 1 1], 'DataAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'PlotBoxAspectRatio', [1 1 1], 'PlotBoxAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'Box', 'on'};
Option.Axis = {Option.Axis{:}, 'GridLineStyle', '-', 'GridColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XGrid', 'on', 'XColor', 'k'};
Option.Axis = {Option.Axis{:}, 'YGrid', 'on', 'YColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XLim', [xMin xMax], 'YLim', [yMin yMax]};
Option.Axis = {Option.Axis{:}, 'XTick', ceil(xMin):1:floor(xMax), 'XTickLabel', []};
Option.Axis = {Option.Axis{:}, 'YTick', ceil(yMin):1:floor(yMax), 'YTickLabel', []};
Option.AxisRRT = {Option.Axis{:}, 'Position', [0.025,0.001,0.95,0.998]};
Option.Axis1 = {Option.Axis{:}, 'Position', [0.025,0.001,0.20,0.998]};
Option.Axis2 = {Option.Axis{:}, 'Position', [0.275,0.001,0.20,0.998]};
Option.Axis3 = {Option.Axis{:}, 'Position', [0.525,0.001,0.20,0.998]};
Option.Axis4 = {Option.Axis{:}, 'Position', [0.775,0.001,0.20,0.998]};
Option.Boundary = {'FaceColor', 'none', 'EdgeColor', 'k', 'LineWidth', 2};
Option.BoundaryObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.FOV = {'FaceColor', [0.85,0.325,0.098], 'EdgeColor', 'none', 'FaceAlpha', 0.5};
Option.RRTpoint = {'.b','MarkerSize',10};
Option.RRTline = {'Color',[0.5 0.5 0.5], 'LineWidth', 0.08};
Option.RRTpath = {'Color', 'r', 'LineWidth', 3};
Option.KnownObstacle = {'FaceColor', 0.35*[1,1,1], 'EdgeColor', 'none'};
Option.UnknownObstacle = {'FaceColor', 0.55*[1,1,1], 'EdgeColor', 'none'};
Option.DiscoveredObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.DiscoveredObstacleDilated = {'FaceColor', [0.7 0.7 0.7], 'EdgeColor', 'none'};
Option.SemanticObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0, 'FaceAlpha', 0.2};
Option.MappedObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0};
Option.Robot = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Wheel = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.Start = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Goal = {'FaceColor', 'm', 'EdgeColor', 'none'};
Option.Path = {'Color', [0, 0.4470, 0.7410], 'LineWidth', 3};
Option.PathTransformed = {'Color', 'r', 'LineWidth', 5};
Option.LocalWorkspace = {'FaceColor', 'y', 'FaceAlpha', 0.5, 'EdgeColor', 'y'};
Option.LocalFreespace = {'FaceColor', 'g', 'FaceAlpha', 0.5, 'EdgeColor', 'g'};
Option.LocalGoalAngular = {'MarkerFaceColor','m'};
Option.LocalGoalLinear = {'MarkerFaceColor', 'c'};
Option.LocalGoal = {'MarkerFaceColor','m'};
Option.FrameRate = 20;
case 10
Option.Figure = {'Position', [500 200 2000 480]};
Option.Figure = {Option.Figure{:}, 'Color', [1 1 1]};
Option.Figure = {Option.Figure{:}, 'Renderer', 'OpenGL'};
Option.FigureRRT = {'Position', [500 200 800 480]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Color', [1 1 1]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Renderer', 'OpenGL'};
Option.Axis = {'DataAspectRatio', [1 1 1], 'DataAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'PlotBoxAspectRatio', [1 1 1], 'PlotBoxAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'Box', 'on'};
Option.Axis = {Option.Axis{:}, 'GridLineStyle', '-', 'GridColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XGrid', 'on', 'XColor', 'k'};
Option.Axis = {Option.Axis{:}, 'YGrid', 'on', 'YColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XLim', [xMin xMax], 'YLim', [yMin yMax]};
Option.Axis = {Option.Axis{:}, 'XTick', ceil(xMin):1:floor(xMax), 'XTickLabel', []};
Option.Axis = {Option.Axis{:}, 'YTick', ceil(yMin):1:floor(yMax), 'YTickLabel', []};
Option.AxisRRT = {Option.Axis{:}, 'Position', [0.025,0.001,0.95,0.998]};
Option.Axis1 = {Option.Axis{:}, 'Position', [0.025,0.001,0.20,0.998]};
Option.Axis2 = {Option.Axis{:}, 'Position', [0.275,0.001,0.20,0.998]};
Option.Axis3 = {Option.Axis{:}, 'Position', [0.525,0.001,0.20,0.998]};
Option.Axis4 = {Option.Axis{:}, 'Position', [0.775,0.001,0.20,0.998]};
Option.Boundary = {'FaceColor', 'none', 'EdgeColor', 'k', 'LineWidth', 2};
Option.BoundaryObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.FOV = {'FaceColor', [0.85,0.325,0.098], 'EdgeColor', 'none', 'FaceAlpha', 0.5};
Option.RRTpoint = {'.b','MarkerSize',10};
Option.RRTline = {'Color',[0.5 0.5 0.5], 'LineWidth', 0.08};
Option.RRTpath = {'Color', 'r', 'LineWidth', 3};
Option.KnownObstacle = {'FaceColor', 0.35*[1,1,1], 'EdgeColor', 'none'};
Option.UnknownObstacle = {'FaceColor', 0.55*[1,1,1], 'EdgeColor', 'none'};
Option.DiscoveredObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.DiscoveredObstacleDilated = {'FaceColor', [0.7 0.7 0.7], 'EdgeColor', 'none'};
Option.SemanticObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0, 'FaceAlpha', 0.2};
Option.MappedObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0};
Option.Robot = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Wheel = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.Start = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Goal = {'FaceColor', 'm', 'EdgeColor', 'none'};
Option.Path = {'Color', [0, 0.4470, 0.7410], 'LineWidth', 3};
Option.PathTransformed = {'Color', 'r', 'LineWidth', 5};
Option.LocalWorkspace = {'FaceColor', 'y', 'FaceAlpha', 0.5, 'EdgeColor', 'y'};
Option.LocalFreespace = {'FaceColor', 'g', 'FaceAlpha', 0.5, 'EdgeColor', 'g'};
Option.LocalGoalAngular = {'MarkerFaceColor','m'};
Option.LocalGoalLinear = {'MarkerFaceColor', 'c'};
Option.LocalGoal = {'MarkerFaceColor','m'};
Option.FrameRate = 20;
case 11
Option.Figure = {'Position', [500 200 2000 480]};
Option.Figure = {Option.Figure{:}, 'Color', [1 1 1]};
Option.Figure = {Option.Figure{:}, 'Renderer', 'OpenGL'};
Option.FigureRRT = {'Position', [500 200 800 480]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Color', [1 1 1]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Renderer', 'OpenGL'};
Option.Axis = {'DataAspectRatio', [1 1 1], 'DataAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'PlotBoxAspectRatio', [1 1 1], 'PlotBoxAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'Box', 'on'};
Option.Axis = {Option.Axis{:}, 'GridLineStyle', '-', 'GridColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XGrid', 'on', 'XColor', 'k'};
Option.Axis = {Option.Axis{:}, 'YGrid', 'on', 'YColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XLim', [xMin xMax], 'YLim', [yMin yMax]};
Option.Axis = {Option.Axis{:}, 'XTick', ceil(xMin):1:floor(xMax), 'XTickLabel', []};
Option.Axis = {Option.Axis{:}, 'YTick', ceil(yMin):1:floor(yMax), 'YTickLabel', []};
Option.AxisRRT = {Option.Axis{:}, 'Position', [0.025,0.001,0.95,0.998]};
Option.Axis1 = {Option.Axis{:}, 'Position', [0.025,0.001,0.20,0.998]};
Option.Axis2 = {Option.Axis{:}, 'Position', [0.275,0.001,0.20,0.998]};
Option.Axis3 = {Option.Axis{:}, 'Position', [0.525,0.001,0.20,0.998]};
Option.Axis4 = {Option.Axis{:}, 'Position', [0.775,0.001,0.20,0.998]};
Option.Boundary = {'FaceColor', 'none', 'EdgeColor', 'k', 'LineWidth', 2};
Option.BoundaryObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.FOV = {'FaceColor', [0.85,0.325,0.098], 'EdgeColor', 'none', 'FaceAlpha', 0.5};
Option.RRTpoint = {'.b','MarkerSize',10};
Option.RRTline = {'Color',[0.5 0.5 0.5], 'LineWidth', 0.08};
Option.RRTpath = {'Color', 'r', 'LineWidth', 3};
Option.KnownObstacle = {'FaceColor', 0.35*[1,1,1], 'EdgeColor', 'none'};
Option.UnknownObstacle = {'FaceColor', 0.55*[1,1,1], 'EdgeColor', 'none'};
Option.DiscoveredObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.DiscoveredObstacleDilated = {'FaceColor', [0.7 0.7 0.7], 'EdgeColor', 'none'};
Option.SemanticObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0, 'FaceAlpha', 0.2};
Option.MappedObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0};
Option.Robot = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Wheel = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.Start = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Goal = {'FaceColor', 'm', 'EdgeColor', 'none'};
Option.Path = {'Color', [0, 0.4470, 0.7410], 'LineWidth', 3};
Option.PathTransformed = {'Color', 'r', 'LineWidth', 5};
Option.LocalWorkspace = {'FaceColor', 'y', 'FaceAlpha', 0.5, 'EdgeColor', 'y'};
Option.LocalFreespace = {'FaceColor', 'g', 'FaceAlpha', 0.5, 'EdgeColor', 'g'};
Option.LocalGoalAngular = {'MarkerFaceColor','m'};
Option.LocalGoalLinear = {'MarkerFaceColor', 'c'};
Option.LocalGoal = {'MarkerFaceColor','m'};
Option.FrameRate = 20;
case 12
Option.Figure = {'Position', [500 200 2000 480]};
Option.Figure = {Option.Figure{:}, 'Color', [1 1 1]};
Option.Figure = {Option.Figure{:}, 'Renderer', 'OpenGL'};
Option.FigureRRT = {'Position', [500 200 800 480]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Color', [1 1 1]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Renderer', 'OpenGL'};
Option.Axis = {'DataAspectRatio', [1 1 1], 'DataAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'PlotBoxAspectRatio', [1 1 1], 'PlotBoxAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'Box', 'on'};
Option.Axis = {Option.Axis{:}, 'GridLineStyle', '-', 'GridColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XGrid', 'on', 'XColor', 'k'};
Option.Axis = {Option.Axis{:}, 'YGrid', 'on', 'YColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XLim', [xMin xMax], 'YLim', [yMin yMax]};
Option.Axis = {Option.Axis{:}, 'XTick', ceil(xMin):1:floor(xMax), 'XTickLabel', []};
Option.Axis = {Option.Axis{:}, 'YTick', ceil(yMin):1:floor(yMax), 'YTickLabel', []};
Option.AxisRRT = {Option.Axis{:}, 'Position', [0.025,0.001,0.95,0.998]};
Option.Axis1 = {Option.Axis{:}, 'Position', [0.025,0.001,0.20,0.998]};
Option.Axis2 = {Option.Axis{:}, 'Position', [0.275,0.001,0.20,0.998]};
Option.Axis3 = {Option.Axis{:}, 'Position', [0.525,0.001,0.20,0.998]};
Option.Axis4 = {Option.Axis{:}, 'Position', [0.775,0.001,0.20,0.998]};
Option.Boundary = {'FaceColor', 'none', 'EdgeColor', 'k', 'LineWidth', 2};
Option.BoundaryObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.FOV = {'FaceColor', [0.85,0.325,0.098], 'EdgeColor', 'none', 'FaceAlpha', 0.5};
Option.RRTpoint = {'.b','MarkerSize',10};
Option.RRTline = {'Color',[0.5 0.5 0.5], 'LineWidth', 0.08};
Option.RRTpath = {'Color', 'r', 'LineWidth', 3};
Option.KnownObstacle = {'FaceColor', 0.35*[1,1,1], 'EdgeColor', 'none'};
Option.UnknownObstacle = {'FaceColor', 0.55*[1,1,1], 'EdgeColor', 'none'};
Option.DiscoveredObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.DiscoveredObstacleDilated = {'FaceColor', [0.7 0.7 0.7], 'EdgeColor', 'none'};
Option.SemanticObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0, 'FaceAlpha', 0.2};
Option.MappedObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0};
Option.Robot = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Wheel = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.Start = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Goal = {'FaceColor', 'm', 'EdgeColor', 'none'};
Option.Path = {'Color', [0, 0.4470, 0.7410], 'LineWidth', 3};
Option.PathTransformed = {'Color', 'r', 'LineWidth', 5};
Option.LocalWorkspace = {'FaceColor', 'y', 'FaceAlpha', 0.5, 'EdgeColor', 'y'};
Option.LocalFreespace = {'FaceColor', 'g', 'FaceAlpha', 0.5, 'EdgeColor', 'g'};
Option.LocalGoalAngular = {'MarkerFaceColor','m'};
Option.LocalGoalLinear = {'MarkerFaceColor', 'c'};
Option.LocalGoal = {'MarkerFaceColor','m'};
Option.FrameRate = 20;
case 13
Option.Figure = {'Position', [500 200 2000 480]};
Option.Figure = {Option.Figure{:}, 'Color', [1 1 1]};
Option.Figure = {Option.Figure{:}, 'Renderer', 'OpenGL'};
Option.FigureRRT = {'Position', [500 200 800 480]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Color', [1 1 1]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Renderer', 'OpenGL'};
Option.Axis = {'DataAspectRatio', [1 1 1], 'DataAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'PlotBoxAspectRatio', [1 1 1], 'PlotBoxAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'Box', 'on'};
Option.Axis = {Option.Axis{:}, 'GridLineStyle', '-', 'GridColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XGrid', 'on', 'XColor', 'k'};
Option.Axis = {Option.Axis{:}, 'YGrid', 'on', 'YColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XLim', [xMin xMax], 'YLim', [yMin yMax]};
Option.Axis = {Option.Axis{:}, 'XTick', ceil(xMin):1:floor(xMax), 'XTickLabel', []};
Option.Axis = {Option.Axis{:}, 'YTick', ceil(yMin):1:floor(yMax), 'YTickLabel', []};
Option.AxisRRT = {Option.Axis{:}, 'Position', [0.025,0.001,0.95,0.998]};
Option.Axis1 = {Option.Axis{:}, 'Position', [0.025,0.001,0.20,0.998]};
Option.Axis2 = {Option.Axis{:}, 'Position', [0.275,0.001,0.20,0.998]};
Option.Axis3 = {Option.Axis{:}, 'Position', [0.525,0.001,0.20,0.998]};
Option.Axis4 = {Option.Axis{:}, 'Position', [0.775,0.001,0.20,0.998]};
Option.Boundary = {'FaceColor', 'none', 'EdgeColor', 'k', 'LineWidth', 2};
Option.BoundaryObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.FOV = {'FaceColor', [0.85,0.325,0.098], 'EdgeColor', 'none', 'FaceAlpha', 0.5};
Option.RRTpoint = {'.b','MarkerSize',10};
Option.RRTline = {'Color',[0.5 0.5 0.5], 'LineWidth', 0.08};
Option.RRTpath = {'Color', 'r', 'LineWidth', 3};
Option.KnownObstacle = {'FaceColor', 0.35*[1,1,1], 'EdgeColor', 'none'};
Option.UnknownObstacle = {'FaceColor', 0.55*[1,1,1], 'EdgeColor', 'none'};
Option.DiscoveredObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.DiscoveredObstacleDilated = {'FaceColor', [0.7 0.7 0.7], 'EdgeColor', 'none'};
Option.SemanticObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0, 'FaceAlpha', 0.2};
Option.MappedObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0};
Option.Robot = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Wheel = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.Start = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Goal = {'FaceColor', 'm', 'EdgeColor', 'none'};
Option.Path = {'Color', [0, 0.4470, 0.7410], 'LineWidth', 3};
Option.PathTransformed = {'Color', 'r', 'LineWidth', 5};
Option.LocalWorkspace = {'FaceColor', 'y', 'FaceAlpha', 0.5, 'EdgeColor', 'y'};
Option.LocalFreespace = {'FaceColor', 'g', 'FaceAlpha', 0.5, 'EdgeColor', 'g'};
Option.LocalGoalAngular = {'MarkerFaceColor','m'};
Option.LocalGoalLinear = {'MarkerFaceColor', 'c'};
Option.LocalGoal = {'MarkerFaceColor','m'};
Option.FrameRate = 20;
case 14
Option.Figure = {'Position', [500 200 2000 480]};
Option.Figure = {Option.Figure{:}, 'Color', [1 1 1]};
Option.Figure = {Option.Figure{:}, 'Renderer', 'OpenGL'};
Option.FigureRRT = {'Position', [500 200 800 480]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Color', [1 1 1]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Renderer', 'OpenGL'};
Option.Axis = {'DataAspectRatio', [1 1 1], 'DataAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'PlotBoxAspectRatio', [1 1 1], 'PlotBoxAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'Box', 'on'};
Option.Axis = {Option.Axis{:}, 'GridLineStyle', '-', 'GridColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XGrid', 'on', 'XColor', 'k'};
Option.Axis = {Option.Axis{:}, 'YGrid', 'on', 'YColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XLim', [xMin xMax], 'YLim', [yMin yMax]};
Option.Axis = {Option.Axis{:}, 'XTick', ceil(xMin):1:floor(xMax), 'XTickLabel', []};
Option.Axis = {Option.Axis{:}, 'YTick', ceil(yMin):1:floor(yMax), 'YTickLabel', []};
Option.AxisRRT = {Option.Axis{:}, 'Position', [0.025,0.001,0.95,0.998]};
Option.Axis1 = {Option.Axis{:}, 'Position', [0.025,0.001,0.20,0.998]};
Option.Axis2 = {Option.Axis{:}, 'Position', [0.275,0.001,0.20,0.998]};
Option.Axis3 = {Option.Axis{:}, 'Position', [0.525,0.001,0.20,0.998]};
Option.Axis4 = {Option.Axis{:}, 'Position', [0.775,0.001,0.20,0.998]};
Option.Boundary = {'FaceColor', 'none', 'EdgeColor', 'k', 'LineWidth', 2};
Option.BoundaryObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.FOV = {'FaceColor', [0.85,0.325,0.098], 'EdgeColor', 'none', 'FaceAlpha', 0.5};
Option.RRTpoint = {'.b','MarkerSize',10};
Option.RRTline = {'Color',[0.5 0.5 0.5], 'LineWidth', 0.08};
Option.RRTpath = {'Color', 'r', 'LineWidth', 3};
Option.KnownObstacle = {'FaceColor', 0.35*[1,1,1], 'EdgeColor', 'none'};
Option.UnknownObstacle = {'FaceColor', 0.55*[1,1,1], 'EdgeColor', 'none'};
Option.DiscoveredObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.DiscoveredObstacleDilated = {'FaceColor', [0.7 0.7 0.7], 'EdgeColor', 'none'};
Option.SemanticObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0, 'FaceAlpha', 0.2};
Option.MappedObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0};
Option.Robot = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Wheel = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.Start = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Goal = {'FaceColor', 'm', 'EdgeColor', 'none'};
Option.Path = {'Color', [0, 0.4470, 0.7410], 'LineWidth', 3};
Option.PathTransformed = {'Color', 'r', 'LineWidth', 5};
Option.LocalWorkspace = {'FaceColor', 'y', 'FaceAlpha', 0.5, 'EdgeColor', 'y'};
Option.LocalFreespace = {'FaceColor', 'g', 'FaceAlpha', 0.5, 'EdgeColor', 'g'};
Option.LocalGoalAngular = {'MarkerFaceColor','m'};
Option.LocalGoalLinear = {'MarkerFaceColor', 'c'};
Option.LocalGoal = {'MarkerFaceColor','m'};
Option.FrameRate = 20;
case 15
Option.Figure = {'Position', [500 200 2000 480]};
Option.Figure = {Option.Figure{:}, 'Color', [1 1 1]};
Option.Figure = {Option.Figure{:}, 'Renderer', 'OpenGL'};
Option.FigureRRT = {'Position', [500 200 800 480]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Color', [1 1 1]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Renderer', 'OpenGL'};
Option.Axis = {'DataAspectRatio', [1 1 1], 'DataAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'PlotBoxAspectRatio', [1 1 1], 'PlotBoxAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'Box', 'on'};
Option.Axis = {Option.Axis{:}, 'GridLineStyle', '-', 'GridColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XGrid', 'on', 'XColor', 'k'};
Option.Axis = {Option.Axis{:}, 'YGrid', 'on', 'YColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XLim', [xMin xMax], 'YLim', [yMin yMax]};
Option.Axis = {Option.Axis{:}, 'XTick', ceil(xMin):1:floor(xMax), 'XTickLabel', []};
Option.Axis = {Option.Axis{:}, 'YTick', ceil(yMin):1:floor(yMax), 'YTickLabel', []};
Option.AxisRRT = {Option.Axis{:}, 'Position', [0.025,0.001,0.95,0.998]};
Option.Axis1 = {Option.Axis{:}, 'Position', [0.025,0.001,0.20,0.998]};
Option.Axis2 = {Option.Axis{:}, 'Position', [0.275,0.001,0.20,0.998]};
Option.Axis3 = {Option.Axis{:}, 'Position', [0.525,0.001,0.20,0.998]};
Option.Axis4 = {Option.Axis{:}, 'Position', [0.775,0.001,0.20,0.998]};
Option.Boundary = {'FaceColor', 'none', 'EdgeColor', 'k', 'LineWidth', 2};
Option.BoundaryObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.FOV = {'FaceColor', [0.85,0.325,0.098], 'EdgeColor', 'none', 'FaceAlpha', 0.5};
Option.RRTpoint = {'.b','MarkerSize',10};
Option.RRTline = {'Color',[0.5 0.5 0.5], 'LineWidth', 0.08};
Option.RRTpath = {'Color', 'r', 'LineWidth', 3};
Option.KnownObstacle = {'FaceColor', 0.35*[1,1,1], 'EdgeColor', 'none'};
Option.UnknownObstacle = {'FaceColor', 0.55*[1,1,1], 'EdgeColor', 'none'};
Option.DiscoveredObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.DiscoveredObstacleDilated = {'FaceColor', [0.7 0.7 0.7], 'EdgeColor', 'none'};
Option.SemanticObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0, 'FaceAlpha', 0.2};
Option.MappedObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0};
Option.Robot = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Wheel = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.Start = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Goal = {'FaceColor', 'm', 'EdgeColor', 'none'};
Option.Path = {'Color', [0, 0.4470, 0.7410], 'LineWidth', 3};
Option.PathTransformed = {'Color', 'r', 'LineWidth', 5};
Option.LocalWorkspace = {'FaceColor', 'y', 'FaceAlpha', 0.5, 'EdgeColor', 'y'};
Option.LocalFreespace = {'FaceColor', 'g', 'FaceAlpha', 0.5, 'EdgeColor', 'g'};
Option.LocalGoalAngular = {'MarkerFaceColor','m'};
Option.LocalGoalLinear = {'MarkerFaceColor', 'c'};
Option.LocalGoal = {'MarkerFaceColor','m'};
Option.FrameRate = 20;
case 16
Option.Figure = {'Position', [500 200 2000 480]};
Option.Figure = {Option.Figure{:}, 'Color', [1 1 1]};
Option.Figure = {Option.Figure{:}, 'Renderer', 'OpenGL'};
Option.FigureRRT = {'Position', [500 200 800 480]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Color', [1 1 1]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Renderer', 'OpenGL'};
Option.Axis = {'DataAspectRatio', [1 1 1], 'DataAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'PlotBoxAspectRatio', [1 1 1], 'PlotBoxAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'Box', 'on'};
Option.Axis = {Option.Axis{:}, 'GridLineStyle', '-', 'GridColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XGrid', 'on', 'XColor', 'k'};
Option.Axis = {Option.Axis{:}, 'YGrid', 'on', 'YColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XLim', [xMin xMax], 'YLim', [yMin yMax]};
Option.Axis = {Option.Axis{:}, 'XTick', ceil(xMin):1:floor(xMax), 'XTickLabel', []};
Option.Axis = {Option.Axis{:}, 'YTick', ceil(yMin):1:floor(yMax), 'YTickLabel', []};
Option.AxisRRT = {Option.Axis{:}, 'Position', [0.025,0.001,0.95,0.998]};
Option.Axis1 = {Option.Axis{:}, 'Position', [0.025,0.001,0.20,0.998]};
Option.Axis2 = {Option.Axis{:}, 'Position', [0.275,0.001,0.20,0.998]};
Option.Axis3 = {Option.Axis{:}, 'Position', [0.525,0.001,0.20,0.998]};
Option.Axis4 = {Option.Axis{:}, 'Position', [0.775,0.001,0.20,0.998]};
Option.Boundary = {'FaceColor', 'none', 'EdgeColor', 'k', 'LineWidth', 2};
Option.BoundaryObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.FOV = {'FaceColor', [0.85,0.325,0.098], 'EdgeColor', 'none', 'FaceAlpha', 0.5};
Option.RRTpoint = {'.b','MarkerSize',10};
Option.RRTline = {'Color',[0.5 0.5 0.5], 'LineWidth', 0.08};
Option.RRTpath = {'Color', 'r', 'LineWidth', 3};
Option.KnownObstacle = {'FaceColor', 0.35*[1,1,1], 'EdgeColor', 'none'};
Option.UnknownObstacle = {'FaceColor', 0.55*[1,1,1], 'EdgeColor', 'none'};
Option.DiscoveredObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.DiscoveredObstacleDilated = {'FaceColor', [0.7 0.7 0.7], 'EdgeColor', 'none'};
Option.SemanticObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0, 'FaceAlpha', 0.2};
Option.MappedObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0};
Option.Robot = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Wheel = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.Start = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Goal = {'FaceColor', 'm', 'EdgeColor', 'none'};
Option.Path = {'Color', [0, 0.4470, 0.7410], 'LineWidth', 3};
Option.PathTransformed = {'Color', 'r', 'LineWidth', 5};
Option.LocalWorkspace = {'FaceColor', 'y', 'FaceAlpha', 0.5, 'EdgeColor', 'y'};
Option.LocalFreespace = {'FaceColor', 'g', 'FaceAlpha', 0.5, 'EdgeColor', 'g'};
Option.LocalGoalAngular = {'MarkerFaceColor','m'};
Option.LocalGoalLinear = {'MarkerFaceColor', 'c'};
Option.LocalGoal = {'MarkerFaceColor','m'};
Option.FrameRate = 20;
case 17
Option.Figure = {'Position', [500 200 2000 480]};
Option.Figure = {Option.Figure{:}, 'Color', [1 1 1]};
Option.Figure = {Option.Figure{:}, 'Renderer', 'OpenGL'};
Option.FigureRRT = {'Position', [500 200 800 480]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Color', [1 1 1]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Renderer', 'OpenGL'};
Option.Axis = {'DataAspectRatio', [1 1 1], 'DataAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'PlotBoxAspectRatio', [1 1 1], 'PlotBoxAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'Box', 'on'};
Option.Axis = {Option.Axis{:}, 'GridLineStyle', '-', 'GridColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XGrid', 'on', 'XColor', 'k'};
Option.Axis = {Option.Axis{:}, 'YGrid', 'on', 'YColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XLim', [xMin xMax], 'YLim', [yMin yMax]};
Option.Axis = {Option.Axis{:}, 'XTick', ceil(xMin):1:floor(xMax), 'XTickLabel', []};
Option.Axis = {Option.Axis{:}, 'YTick', ceil(yMin):1:floor(yMax), 'YTickLabel', []};
Option.AxisRRT = {Option.Axis{:}, 'Position', [0.025,0.001,0.95,0.998]};
Option.Axis1 = {Option.Axis{:}, 'Position', [0.025,0.001,0.20,0.998]};
Option.Axis2 = {Option.Axis{:}, 'Position', [0.275,0.001,0.20,0.998]};
Option.Axis3 = {Option.Axis{:}, 'Position', [0.525,0.001,0.20,0.998]};
Option.Axis4 = {Option.Axis{:}, 'Position', [0.775,0.001,0.20,0.998]};
Option.Boundary = {'FaceColor', 'none', 'EdgeColor', 'k', 'LineWidth', 2};
Option.BoundaryObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.FOV = {'FaceColor', [0.85,0.325,0.098], 'EdgeColor', 'none', 'FaceAlpha', 0.5};
Option.RRTpoint = {'.b','MarkerSize',10};
Option.RRTline = {'Color',[0.5 0.5 0.5], 'LineWidth', 0.08};
Option.RRTpath = {'Color', 'r', 'LineWidth', 3};
Option.KnownObstacle = {'FaceColor', 0.35*[1,1,1], 'EdgeColor', 'none'};
Option.UnknownObstacle = {'FaceColor', 0.55*[1,1,1], 'EdgeColor', 'none'};
Option.DiscoveredObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.DiscoveredObstacleDilated = {'FaceColor', [0.7 0.7 0.7], 'EdgeColor', 'none'};
Option.SemanticObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0, 'FaceAlpha', 0.2};
Option.MappedObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0};
Option.Robot = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Wheel = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.Start = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Goal = {'FaceColor', 'm', 'EdgeColor', 'none'};
Option.Path = {'Color', [0, 0.4470, 0.7410], 'LineWidth', 3};
Option.PathTransformed = {'Color', 'r', 'LineWidth', 5};
Option.LocalWorkspace = {'FaceColor', 'y', 'FaceAlpha', 0.5, 'EdgeColor', 'y'};
Option.LocalFreespace = {'FaceColor', 'g', 'FaceAlpha', 0.5, 'EdgeColor', 'g'};
Option.LocalGoalAngular = {'MarkerFaceColor','m'};
Option.LocalGoalLinear = {'MarkerFaceColor', 'c'};
Option.LocalGoal = {'MarkerFaceColor','m'};
Option.FrameRate = 20;
case 18
Option.Figure = {'Position', [500 200 2000 480]};
Option.Figure = {Option.Figure{:}, 'Color', [1 1 1]};
Option.Figure = {Option.Figure{:}, 'Renderer', 'OpenGL'};
Option.FigureRRT = {'Position', [500 200 800 480]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Color', [1 1 1]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Renderer', 'OpenGL'};
Option.Axis = {'DataAspectRatio', [1 1 1], 'DataAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'PlotBoxAspectRatio', [1 1 1], 'PlotBoxAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'Box', 'on'};
Option.Axis = {Option.Axis{:}, 'GridLineStyle', '-', 'GridColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XGrid', 'on', 'XColor', 'k'};
Option.Axis = {Option.Axis{:}, 'YGrid', 'on', 'YColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XLim', [xMin xMax], 'YLim', [yMin yMax]};
Option.Axis = {Option.Axis{:}, 'XTick', ceil(xMin):1:floor(xMax), 'XTickLabel', []};
Option.Axis = {Option.Axis{:}, 'YTick', ceil(yMin):1:floor(yMax), 'YTickLabel', []};
Option.AxisRRT = {Option.Axis{:}, 'Position', [0.025,0.001,0.95,0.998]};
Option.Axis1 = {Option.Axis{:}, 'Position', [0.025,0.001,0.20,0.998]};
Option.Axis2 = {Option.Axis{:}, 'Position', [0.275,0.001,0.20,0.998]};
Option.Axis3 = {Option.Axis{:}, 'Position', [0.525,0.001,0.20,0.998]};
Option.Axis4 = {Option.Axis{:}, 'Position', [0.775,0.001,0.20,0.998]};
Option.Boundary = {'FaceColor', 'none', 'EdgeColor', 'k', 'LineWidth', 2};
Option.BoundaryObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.FOV = {'FaceColor', [0.85,0.325,0.098], 'EdgeColor', 'none', 'FaceAlpha', 0.5};
Option.RRTpoint = {'.b','MarkerSize',10};
Option.RRTline = {'Color',[0.5 0.5 0.5], 'LineWidth', 0.08};
Option.RRTpath = {'Color', 'r', 'LineWidth', 3};
Option.KnownObstacle = {'FaceColor', 0.35*[1,1,1], 'EdgeColor', 'none'};
Option.UnknownObstacle = {'FaceColor', 0.55*[1,1,1], 'EdgeColor', 'none'};
Option.DiscoveredObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.DiscoveredObstacleDilated = {'FaceColor', [0.7 0.7 0.7], 'EdgeColor', 'none'};
Option.SemanticObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0, 'FaceAlpha', 0.2};
Option.MappedObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0};
Option.Robot = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Wheel = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.Start = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Goal = {'FaceColor', 'm', 'EdgeColor', 'none'};
Option.Path = {'Color', [0, 0.4470, 0.7410], 'LineWidth', 3};
Option.PathTransformed = {'Color', 'r', 'LineWidth', 5};
Option.LocalWorkspace = {'FaceColor', 'y', 'FaceAlpha', 0.5, 'EdgeColor', 'y'};
Option.LocalFreespace = {'FaceColor', 'g', 'FaceAlpha', 0.5, 'EdgeColor', 'g'};
Option.LocalGoalAngular = {'MarkerFaceColor','m'};
Option.LocalGoalLinear = {'MarkerFaceColor', 'c'};
Option.LocalGoal = {'MarkerFaceColor','m'};
Option.FrameRate = 20;
case 19
Option.Figure = {'Position', [500 200 2000 480]};
Option.Figure = {Option.Figure{:}, 'Color', [1 1 1]};
Option.Figure = {Option.Figure{:}, 'Renderer', 'OpenGL'};
Option.FigureRRT = {'Position', [500 200 800 480]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Color', [1 1 1]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Renderer', 'OpenGL'};
Option.Axis = {'DataAspectRatio', [1 1 1], 'DataAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'PlotBoxAspectRatio', [1 1 1], 'PlotBoxAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'Box', 'on'};
Option.Axis = {Option.Axis{:}, 'GridLineStyle', '-', 'GridColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XGrid', 'on', 'XColor', 'k'};
Option.Axis = {Option.Axis{:}, 'YGrid', 'on', 'YColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XLim', [xMin xMax], 'YLim', [yMin yMax]};
Option.Axis = {Option.Axis{:}, 'XTick', ceil(xMin):1:floor(xMax), 'XTickLabel', []};
Option.Axis = {Option.Axis{:}, 'YTick', ceil(yMin):1:floor(yMax), 'YTickLabel', []};
Option.AxisRRT = {Option.Axis{:}, 'Position', [0.025,0.001,0.95,0.998]};
Option.Axis1 = {Option.Axis{:}, 'Position', [0.025,0.001,0.20,0.998]};
Option.Axis2 = {Option.Axis{:}, 'Position', [0.275,0.001,0.20,0.998]};
Option.Axis3 = {Option.Axis{:}, 'Position', [0.525,0.001,0.20,0.998]};
Option.Axis4 = {Option.Axis{:}, 'Position', [0.775,0.001,0.20,0.998]};
Option.Boundary = {'FaceColor', 'none', 'EdgeColor', 'k', 'LineWidth', 2};
Option.BoundaryObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.FOV = {'FaceColor', [0.85,0.325,0.098], 'EdgeColor', 'none', 'FaceAlpha', 0.5};
Option.RRTpoint = {'.b','MarkerSize',10};
Option.RRTline = {'Color',[0.5 0.5 0.5], 'LineWidth', 0.08};
Option.RRTpath = {'Color', 'r', 'LineWidth', 3};
Option.KnownObstacle = {'FaceColor', 0.35*[1,1,1], 'EdgeColor', 'none'};
Option.UnknownObstacle = {'FaceColor', 0.55*[1,1,1], 'EdgeColor', 'none'};
Option.DiscoveredObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.DiscoveredObstacleDilated = {'FaceColor', [0.7 0.7 0.7], 'EdgeColor', 'none'};
Option.SemanticObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0, 'FaceAlpha', 0.2};
Option.MappedObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0};
Option.Robot = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Wheel = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.Start = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Goal = {'FaceColor', 'm', 'EdgeColor', 'none'};
Option.Path = {'Color', [0, 0.4470, 0.7410], 'LineWidth', 3};
Option.PathTransformed = {'Color', 'r', 'LineWidth', 5};
Option.LocalWorkspace = {'FaceColor', 'y', 'FaceAlpha', 0.5, 'EdgeColor', 'y'};
Option.LocalFreespace = {'FaceColor', 'g', 'FaceAlpha', 0.5, 'EdgeColor', 'g'};
Option.LocalGoalAngular = {'MarkerFaceColor','m'};
Option.LocalGoalLinear = {'MarkerFaceColor', 'c'};
Option.LocalGoal = {'MarkerFaceColor','m'};
Option.FrameRate = 20;
case 20
Option.Figure = {'Position', [500 200 2000 480]};
Option.Figure = {Option.Figure{:}, 'Color', [1 1 1]};
Option.Figure = {Option.Figure{:}, 'Renderer', 'OpenGL'};
Option.FigureRRT = {'Position', [500 200 800 480]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Color', [1 1 1]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Renderer', 'OpenGL'};
Option.Axis = {'DataAspectRatio', [1 1 1], 'DataAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'PlotBoxAspectRatio', [1 1 1], 'PlotBoxAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'Box', 'on'};
Option.Axis = {Option.Axis{:}, 'GridLineStyle', '-', 'GridColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XGrid', 'on', 'XColor', 'k'};
Option.Axis = {Option.Axis{:}, 'YGrid', 'on', 'YColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XLim', [xMin xMax], 'YLim', [yMin yMax]};
Option.Axis = {Option.Axis{:}, 'XTick', ceil(xMin):1:floor(xMax), 'XTickLabel', []};
Option.Axis = {Option.Axis{:}, 'YTick', ceil(yMin):1:floor(yMax), 'YTickLabel', []};
Option.AxisRRT = {Option.Axis{:}, 'Position', [0.025,0.001,0.95,0.998]};
Option.Axis1 = {Option.Axis{:}, 'Position', [0.025,0.001,0.20,0.998]};
Option.Axis2 = {Option.Axis{:}, 'Position', [0.275,0.001,0.20,0.998]};
Option.Axis3 = {Option.Axis{:}, 'Position', [0.525,0.001,0.20,0.998]};
Option.Axis4 = {Option.Axis{:}, 'Position', [0.775,0.001,0.20,0.998]};
Option.Boundary = {'FaceColor', 'none', 'EdgeColor', 'k', 'LineWidth', 2};
Option.BoundaryObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.FOV = {'FaceColor', [0.85,0.325,0.098], 'EdgeColor', 'none', 'FaceAlpha', 0.5};
Option.RRTpoint = {'.b','MarkerSize',10};
Option.RRTline = {'Color',[0.5 0.5 0.5], 'LineWidth', 0.08};
Option.RRTpath = {'Color', 'r', 'LineWidth', 3};
Option.KnownObstacle = {'FaceColor', 0.35*[1,1,1], 'EdgeColor', 'none'};
Option.UnknownObstacle = {'FaceColor', 0.55*[1,1,1], 'EdgeColor', 'none'};
Option.DiscoveredObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.DiscoveredObstacleDilated = {'FaceColor', [0.7 0.7 0.7], 'EdgeColor', 'none'};
Option.SemanticObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0, 'FaceAlpha', 0.2};
Option.MappedObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0};
Option.Robot = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Wheel = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.Start = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Goal = {'FaceColor', 'm', 'EdgeColor', 'none'};
Option.Path = {'Color', [0, 0.4470, 0.7410], 'LineWidth', 3};
Option.PathTransformed = {'Color', 'r', 'LineWidth', 5};
Option.LocalWorkspace = {'FaceColor', 'y', 'FaceAlpha', 0.5, 'EdgeColor', 'y'};
Option.LocalFreespace = {'FaceColor', 'g', 'FaceAlpha', 0.5, 'EdgeColor', 'g'};
Option.LocalGoalAngular = {'MarkerFaceColor','m'};
Option.LocalGoalLinear = {'MarkerFaceColor', 'c'};
Option.LocalGoal = {'MarkerFaceColor','m'};
Option.FrameRate = 20;
case 21
Option.Figure = {'Position', [500 200 2000 480]};
Option.Figure = {Option.Figure{:}, 'Color', [1 1 1]};
Option.Figure = {Option.Figure{:}, 'Renderer', 'OpenGL'};
Option.FigureRRT = {'Position', [500 200 800 480]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Color', [1 1 1]};
Option.FigureRRT = {Option.FigureRRT{:}, 'Renderer', 'OpenGL'};
Option.Axis = {'DataAspectRatio', [1 1 1], 'DataAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'PlotBoxAspectRatio', [1 1 1], 'PlotBoxAspectRatioMode', 'manual'};
Option.Axis = {Option.Axis{:}, 'Box', 'on'};
Option.Axis = {Option.Axis{:}, 'GridLineStyle', '-', 'GridColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XGrid', 'on', 'XColor', 'k'};
Option.Axis = {Option.Axis{:}, 'YGrid', 'on', 'YColor', 'k'};
Option.Axis = {Option.Axis{:}, 'XLim', [xMin xMax], 'YLim', [yMin yMax]};
Option.Axis = {Option.Axis{:}, 'XTick', ceil(xMin):1:floor(xMax), 'XTickLabel', []};
Option.Axis = {Option.Axis{:}, 'YTick', ceil(yMin):1:floor(yMax), 'YTickLabel', []};
Option.AxisRRT = {Option.Axis{:}, 'Position', [0.025,0.001,0.95,0.998]};
Option.Axis1 = {Option.Axis{:}, 'Position', [0.025,0.001,0.20,0.998]};
Option.Axis2 = {Option.Axis{:}, 'Position', [0.275,0.001,0.20,0.998]};
Option.Axis3 = {Option.Axis{:}, 'Position', [0.525,0.001,0.20,0.998]};
Option.Axis4 = {Option.Axis{:}, 'Position', [0.775,0.001,0.20,0.998]};
Option.Boundary = {'FaceColor', 'none', 'EdgeColor', 'k', 'LineWidth', 2};
Option.BoundaryObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.FOV = {'FaceColor', [0.85,0.325,0.098], 'EdgeColor', 'none', 'FaceAlpha', 0.5};
Option.RRTpoint = {'.b','MarkerSize',10};
Option.RRTline = {'Color',[0.5 0.5 0.5], 'LineWidth', 0.08};
Option.RRTpath = {'Color', 'r', 'LineWidth', 3};
Option.KnownObstacle = {'FaceColor', 0.35*[1,1,1], 'EdgeColor', 'none'};
Option.UnknownObstacle = {'FaceColor', 0.55*[1,1,1], 'EdgeColor', 'none'};
Option.DiscoveredObstacle = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.DiscoveredObstacleDilated = {'FaceColor', [0.7 0.7 0.7], 'EdgeColor', 'none'};
Option.SemanticObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0, 'FaceAlpha', 0.2};
Option.MappedObstacle = {'FaceColor', 'k', 'EdgeColor', 'r', 'LineWidth', 2.0};
Option.Robot = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Wheel = {'FaceColor', 'k', 'EdgeColor', 'none'};
Option.Start = {'FaceColor', [0, 0.4470, 0.7410], 'EdgeColor', 'none'};
Option.Goal = {'FaceColor', 'm', 'EdgeColor', 'none'};
Option.Path = {'Color', [0, 0.4470, 0.7410], 'LineWidth', 3};
Option.PathTransformed = {'Color', 'r', 'LineWidth', 5};
Option.LocalWorkspace = {'FaceColor', 'y', 'FaceAlpha', 0.5, 'EdgeColor', 'y'};
Option.LocalFreespace = {'FaceColor', 'g', 'FaceAlpha', 0.5, 'EdgeColor', 'g'};
Option.LocalGoalAngular = {'MarkerFaceColor','m'};