pipe2.py

#!/bin/python3
import matplotlib.pyplot as plt
import numpy as np

xEst = np.zeros((2,1))
xTrue = np.zeros((2,1))
while True:
            x_Est, y_Est, x_True, y_True = map(float, input().split())
            
            hxEst = np.array([[x_Est],[y_Est]]) 
            xEst = np.hstack((xEst, hxEst))

            hxTrue = np.array([[x_True],[y_True]])
            xTrue = np.hstack((xTrue, hxTrue))
            
            plt.cla()

            # for stopping simulation with the esc key.
            plt.gcf().canvas.mpl_connect('key_release_event',
                    lambda event: [exit(0) if event.key == 'escape' else None])
            
            #plotting actual state (represented by blue line)
            plt.plot(xTrue[0, :], xTrue[1, :], "-b")
            
            #plotting estimated state (represented by red line)
            plt.plot(xEst[0,:], xEst[1,:], "-r")

            plt.axis("equal")
            plt.grid(True)
            plt.pause(0.001)