content: import matplotlib.pyplot as plt 
  import matplotlib.patches as patches
  
  def route(root):
  
  	root_height = root[2]
  
  	coordinates = [\
  [0.42*root_height+root[0],0.42*root_height+root[1],root_height/2],\
  [-0.42*root_height+root[0],0.42*root_height+root[1],root_height/2],\
  [-0.42*root_height+root[0],-0.15*root_height+root[1],root_height/2],\
  [0.42*root_height+root[0],-0.15*root_height+root[1],root_height/2]]
  
  	return coordinates
  
  if __name__ == "__main__":
  
  	meter_to_feet = 3.28
  	root = [0,0,16*1]
  	print 'root',root,'\n'
  
  	level1 = route(root)
  	print 'level 1 \n'
  	print level1[0],'\n'
  	print level1[1],'\n'
  	print level1[2],'\n'
  	print level1[3],'\n'
  
  	print 'level 2 \n'
  	level2 = [[0]*3]*4
  
  	for x in xrange(4):
  		level2[x] = route(level1[x])
  		for y in xrange(4):
  			print 'level2 point[',x+1,y+1,']',level2[x][y],'\n'
  
  	fig, ax = plt.subplots()
  
  	ball, = plt.plot(6.72+1.52,6.72+1.52,'mo')
  
  	plt.plot(0,0,'bo')
  	plt.plot([level1[0][0],level1[1][0],level1[2][0],level1[3][0]],[level1[0][1],level1[1][1],level1[2][1],level1[3][1]],'ro')
  
  	rect_blue = patches.Rectangle((-13.44,-4.8),13.44*2,9.12*2,linewidth=1,edgecolor='b',facecolor='b',alpha = 0.1)
  	ax.add_patch(rect_blue)
  
  	rect_red = patches.Rectangle((0,4.23),13.44,9.12,linewidth=1,edgecolor='r',facecolor='r',alpha = 0.3)
  	ax.add_patch(rect_red)
  
  	plt.plot([level2[0][0][0],level2[0][1][0],level2[0][2][0],level2[0][3][0]],[level2[0][0][1],level2[0][1][1],level2[0][2][1],level2[0][3][1]],'go')
  
  	rect_green = patches.Rectangle((6.72,6.72+4.23/2),13.44/2,9.12/2,linewidth=1,edgecolor='g',facecolor='g',alpha = 0.5)
  	ax.add_patch(rect_green)
  
  	linear_s = [12,12]
  	plt.plot(12,12,'yo')
  	rect_yellow = patches.Rectangle((10,11),13.44/4,9.12/4,linewidth=1,edgecolor='y',facecolor='y',alpha = 0.5)
  	ax.add_patch(rect_yellow)
  
  	ax.legend([ball,rect_blue,rect_red,rect_green,rect_yellow],['Ball','Root View','Level 1 - 4 anchors','Level 2 - 16 anchors','Linear Search - 64 anchors'])
  
  	plt.axis([-13.44, 13.44, -4.8, 13.44])
  	plt.show()
  
  
  
  
  
  
  
  
  
  