ParseGenerateDataUniformControlCollisionCheck

function ParseGenerateDataUniformControlCollisionCheck
% creates a plot (Figure 8: CollisionCheck) showing the effect of robot size and number of robots on
% the probability of finding a collision free path
% Data is generated by GenerateDataUniformControlCollisionCheck.m
%
%CAPTION: Probability of a collision as a function of robot radius for different
% numbers of robots, $n$.  The setup in Fig.~\ref{fig:SimSetup} is used.
% The probability of collision increases nonlinearly with number of robots and  robot radius.
clc
savefilename = 'CollisionCheck.mat';
load(savefilename)
%, 'probSucc',  'RobRadii','NUMsofROBOTs','dTHETAs','NUMSofMOVES')
color = ['b','r','g','c','m','k','b'];
figure(8)
set(0,'defaultaxesfontsize',18);
set(0,'defaulttextfontsize',18);
clf

for i = 1:numel(NUMsofROBOTs)
    %probSucc(r,n) = pSucc;
    hold on
    hPlot = plot(RobRadii, 1-probSucc(:,i) ,'o');  %#ok<*NODEF>
    set(hPlot, 'color',color(i),'linewidth',2,'markerfacecolor','w');
    uistack(hPlot,'bottom')
    hPlot = plot(RobRadii, smooth(1-probSucc(:,i),3) ,'-');
    set(hPlot, 'color',color(i),'linewidth',2);
    uistack(hPlot,'bottom')
    text(RobRadii(4),1-probSucc(4,i),['\itn\rm=',num2str(NUMsofROBOTs(i))])
end

xlabel('robot radius')
ylabel('probability of collision')