Fix the code

scripts/ideal_robot.py

@@ -74,7 +74,7 @@ def draw(self, ax, elems):         ### call_agent_draw
         elems.append(ax.add_patch(c))
         self.poses.append(self.pose)
         elems += ax.plot([e[0] for e in self.poses], [e[1] for e in self.poses], linewidth=0.5, color="black")
-        if self.sensor:
+        if self.sensor and len(self.poses) > 1: 
             self.sensor.draw(ax, elems, self.poses[-2])
         if self.agent and hasattr(self.agent, "draw"):                               #以下2行追加   
             self.agent.draw(ax, elems)

section_robot/ideal_robot1.ipynb

@@ -40,17 +40,19 @@
    "cell_type": "code",
    "execution_count": 3,
    "metadata": {
-    "scrolled": true
+    "scrolled": false
    },
    "outputs": [
     {
      "data": {
-      "image/png": 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2yde6+86q+sWl9+w2Ed8D3f3sU91fVVckuSzJ8apKtl7uvauqrurur+7hxLFOd26/q6pe\nkuTaJM9qb4rw//VQkktOun1o+z52QVU9LlsBv62737P0nn3k6iTPr6rnJfneJD9YVbd29/UL79oV\n3uxlRarq80k2unvSJ+2sVlVdk+T1SZ7R3ZtL75muqg5k6wcEn5WteH8yyYu6+75Fh+0DtfWv+L9L\n8u/dfePSe/ar7Svx3+/ua5feslt8T5z97E1JLkxyR1XdU1VvXXrQZNs/JPiKJB/M1g9evUvAd83V\nSV6c5Jnb/63es33lCGfkShwAhnIlDgBDiTgADCXiADCUiAPAUCIOAEOJOAAMJeLAaVXVb29/RO5p\n33e+qv5h+5jf28ttgIgDZ9Ddb0/y90muqaqXP/LxqnpZkucl+UB3/+Ve74PznTd7Ac6oqp6Y5FNJ\nfiDJT3f3Z7bv/7Ekdyf5ZrY+t937/cMecyUOnFF3fy3J7yb5/iS3VtWB7fdRv3X7viMCDsvwKWbA\njrr79qr662x9Lvsfbd/99CR/6xO3YDleTgfOSlVdmOR4kku37/pSkiu7+xvLrYLzm5fTgbOyHevX\nJrlg++tlAg7LEnHgrFTV9yV55Ul3/cZSW4AtIg6crT9J8hNJ/jzJPUleWlW/uuwkOL/5njiwo6p6\nTpJ/zNavmj09yVOSHEvyH9n69bKHF5wH5y1X4sAZVdUPJfmbJP+d5Pru/lZ3fyrJHyb54SRvWXIf\nnM9EHNjJW5P8SJI/6O57T7r/z5L8c5Jfr6rrF1kG5zkvpwOnVVUvTvKOJB9L8kvd/Z1HPH5ZknuT\nnEhyRXd/ee9XwvlLxIFTqqpLsxXoytbvg3/hNMf9TpK/SnJHkl9u/1OBPSPiADCU74kDwFAiDgBD\niTgADCXiADCUiAPAUCIOAEOJOAAMJeIAMJSIA8BQ/wNvgqN/PEPTUQAAAABJRU5ErkJggg==\n",
+      "image/png": "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\n",
       "text/plain": [
-       "<matplotlib.figure.Figure at 0x108e674e0>"
+       "<Figure size 576x576 with 1 Axes>"
       ]
      },
-     "metadata": {},
+     "metadata": {
+      "needs_background": "light"
+     },
      "output_type": "display_data"
     }
    ],
@@ -83,7 +85,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.7.0"
+   "version": "3.7.3"
   }
  },
  "nbformat": 4,

section_robot/ideal_robot10.ipynb

@@ -82,7 +82,7 @@
     "        elems.append(ax.add_patch(c))   # 上のpatches.Circleでロボットの胴体を示す円を作ってサブプロットへ登録\n",
     "        self.poses.append(self.pose)\n",
     "        elems += ax.plot([e[0] for e in self.poses], [e[1] for e in self.poses], linewidth=0.5, color=\"black\")\n",
-    "        if self.sensor:\n",
+    "        if self.sensor and len(self.poses) > 1:\n",
     "            self.sensor.draw(ax, elems, self.poses[-2])\n",
     "            \n",
     "    @classmethod \n",
@@ -1049,7 +1049,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.7.0"
+   "version": "3.7.3"
   }
  },
  "nbformat": 4,

section_robot/ideal_robot2.ipynb

@@ -113,7 +113,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.7.0"
+   "version": "3.7.3"
   }
  },
  "nbformat": 4,

section_robot/ideal_robot3.ipynb

@@ -905,7 +905,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.7.0"
+   "version": "3.7.3"
   }
  },
  "nbformat": 4,

section_robot/ideal_robot6.ipynb

@@ -22,7 +22,7 @@
    "outputs": [],
    "source": [
     "class World:        ### fig:world_init_add_timespan (1-6行目)\n",
-    "    def __init__(self, time_span, time_interval, debug=False):\n",
+    "    def __init__(self, time_span, time_interval, debug=False): #time_span, time_intervalを追加\n",
     "        self.objects = []  \n",
     "        self.debug = debug\n",
     "        self.time_span = time_span                  # 追加\n",
@@ -952,7 +952,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.7.0"
+   "version": "3.7.3"
   }
  },
  "nbformat": 4,

section_robot/ideal_robot9.ipynb

@@ -82,7 +82,7 @@
     "        elems.append(ax.add_patch(c)) \n",
     "        self.poses.append(self.pose)\n",
     "        elems += ax.plot([e[0] for e in self.poses], [e[1] for e in self.poses], linewidth=0.5, color=\"black\")\n",
-    "        if self.sensor:                                             #追加\n",
+    "        if self.sensor and len(self.poses) > 1:                    #追加\n",
     "            self.sensor.draw(ax, elems, self.poses[-2])     #追加\n",
     "            \n",
     "    @classmethod \n",
@@ -1054,7 +1054,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.7.0"
+   "version": "3.7.3"
   }
  },
  "nbformat": 4,