text: import numpy as np
  import matplotlib.pyplot as plt
  from numpy import genfromtxt
  from matplotlib import cm
  from matplotlib.patches import Circle
  
  ### Pendulum swingup demo
  
  #Load results from txt file
  path = np.transpose(np.genfromtxt('../build/examples/pendulum_swingup_demo.txt', delimiter=','))
  nodes = np.transpose(np.genfromtxt('../build/examples/pendulum_swingup_demo_nodes.txt', delimiter=','))
  
  #Plot data
  fig = plt.figure(figsize=(10,10))
  ax = plt.gca()
  ax.set_xlim([-6.0,6.0])
  ax.set_ylim([-6.0,6.0])
  #Solution from planner
  plt.plot(path[0],path[1])
  #Nodes of search tree
  plt.scatter(nodes[0],nodes[1],s=0.5)
  
  ax.add_patch(Circle([3.14159, 0.0],0.25, facecolor="green",alpha=0.3,edgecolor="none"))
  plt.show()
  
  ### Shortest path demo
  
  #Load results from txt file
  path = np.transpose(np.genfromtxt('../build/examples/shortest_path_demo.txt', delimiter=','))
  nodes = np.transpose(np.genfromtxt('../build/examples/shortest_path_demo_nodes.txt', delimiter=','))
  
  #Plot data
  fig = plt.figure(figsize=(10,10))
  ax = plt.gca()
  ax.set_xlim([-1,12])
  ax.set_ylim([-1,12])
  #Solution from planner
  plt.plot(path[0],path[1])
  #Nodes of search tree
  plt.scatter(nodes[0],nodes[1],s=0.5)
  
  ax.add_patch(Circle([3.0, 2.0],2.0, facecolor="black",alpha=0.7,edgecolor="none"))
  ax.add_patch(Circle([6.0, 8.0],2.0, facecolor="black",alpha=0.7,edgecolor="none"))
  ax.add_patch(Circle([10.0, 10.0],0.25, facecolor="green",alpha=0.3,edgecolor="none"))
  plt.show()
  
  ### Nonholonomic car demo
  
  #Load results from txt file
  path = np.transpose(np.genfromtxt('../build/examples/nonholonomic_car_demo.txt', delimiter=','))
  nodes = np.transpose(np.genfromtxt('../build/examples/nonholonomic_car_demo_nodes.txt', delimiter=','))
  
  #Plot data
  fig = plt.figure(figsize=(10,10))
  ax = plt.gca()
  ax.set_xlim([-1,12])
  ax.set_ylim([-1,12])
  #Solution from planner
  plt.plot(path[0],path[1])
  #Nodes of search tree
  plt.scatter(nodes[0],nodes[1],s=0.5)
  
  ax.add_patch(Circle([3.0, 2.0],2.0, facecolor="black",alpha=0.7,edgecolor="none"))
  ax.add_patch(Circle([6.0, 8.0],2.0, facecolor="black",alpha=0.7,edgecolor="none"))
  ax.add_patch(Circle([10.0, 10.0],0.5, facecolor="green",alpha=0.3,edgecolor="none"))
  plt.show()