Update docs to show off new demo

README.md

@@ -34,14 +34,18 @@ VFH (and other older approach(es)) is comparably much easier to implement and re
     * ?
 
 ## The story so far
-A gif of an 'agent' (the blue square) navigating to a goal (green dot) while avoiding a patrolling obstacle (white circle) running in simulation is shown below:
+A gif of an 'agent' (the blue square) navigating to a goal (green dot) while avoiding obstacles (white rectangles) running in simulation is shown below:
 
 ![use your imagination](/doc/demo.gif)
 
 There are many things happening under the hood at this point, but perhaps the most interesting is the first part of the VFH algorithm: transforming the Histogram Grid into polar space.  A plot of the polar histogram at various time steps (from the simulation above) is shown below:
 
 ![use your imagination](/doc/plot.png)
 
+These polar histograms are created from the Histogram Grid, a representation of which can be seen below (from the final timestep of the above simulation)
+
+![use your imagination](/doc/map.png)
+
 ## What's the roadmap looking like?
 This is a _very_ coarse estimation of the roadmap and is subject to change:
 

notebooks/vfh_exploration.ipynb

@@ -28,15 +28,20 @@
     "\n",
     "\n",
     "theta = np.linspace(0.0, 2 * np.pi, dset.shape[0], endpoint=False)\n",
-    "ax1 = plt.subplot(131, projection='polar')\n",
+    "ax1 = plt.subplot(141, projection='polar')\n",
     "ax1.bar(theta, dset[:,5])\n",
     "ax1.set_title('t = 5')\n",
-    "ax2 = plt.subplot(132, projection='polar')\n",
-    "ax2.bar(theta, dset[:,500])\n",
-    "ax2.set_title('t = 500')\n",
-    "ax3 = plt.subplot(133, projection='polar')\n",
-    "ax3.bar(theta, dset[:,dset.shape[1] - 10])\n",
-    "ax3.set_title(f't = {dset.shape[1] - 10}')\n",
+    "ax2 = plt.subplot(142, projection='polar')\n",
+    "ax2.bar(theta, dset[:,1000])\n",
+    "ax2.set_title('t = 1000')\n",
+    "ax3 = plt.subplot(143, projection='polar')\n",
+    "ax3.bar(theta, dset[:,2000])\n",
+    "ax3.set_title('t = 2000')\n",
+    "ax4 = plt.subplot(144, projection='polar')\n",
+    "ax4.bar(theta, dset[:,3000])\n",
+    "ax4.set_title('t = 3000')\n",
+    "#ax3.bar(theta, dset[:,dset.shape[1] - 10])\n",
+    "#ax3.set_title(f't = {dset.shape[1] - 10}')\n",
     "#ax.set_theta_zero_location('E')\n",
     "plt.tight_layout()"
    ]