centroid planner migrated

.gitignore

@@ -39,3 +39,5 @@ ExperimentDataCheck
 ExperimentVideo
 Configuration.h
 drake_binary
+*_RESULTS.yaml
+*.pyc

Addition/PythonPlotter/PlotCentroidTrajectory.py

@@ -0,0 +1,47 @@
+#!/usr/bin/python
+
+'''
+ Copyright [2017] Max Planck Society. All rights reserved.
+ 
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ 
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+ 
+ You should have received a copy of the GNU General Public License
+ along with this program.  If not, see <http://www.gnu.org/licenses/>.
+'''
+
+'''
+Use example: ipython
+             run display.py -i <path_to_datafile>
+'''
+
+import sys, getopt
+from helpers import Graphics
+
+def main(argv):
+    inputfile = ''
+    try:
+        opts, args = getopt.getopt(argv,"hi:",["ifile="])
+    except getopt.GetoptError:
+        print 'display.py -i <path_to_datafile>'
+        sys.exit(2)
+
+    for opt, arg in opts:
+        if opt == '-h':
+            print 'display.py -i <path_to_datafile>'
+            sys.exit()
+        elif opt in ("-i", "--ifile"):
+            inputfile = arg
+
+    motion = Graphics()
+    motion.show_motion(inputfile)
+
+if __name__ == "__main__":
+   main(sys.argv[1:])