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action_space.tex
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% File for tikz thing with the car
\documentclass{standalone}
\usepackage{tikz}
\usetikzlibrary{arrows}
\usetikzlibrary{arrows.meta}
\newcommand*{\RaisedText}[1]{%
\begingroup
\leavevmode
\rlap{\kern-.1pt\raise.1pt\hbox{\color{white}#1}}%
\rlap{\kern.1pt\raise-.1pt\hbox{\color{black}#1}}%
\hbox{#1}%
\endgroup
}
\begin{document}
\begin{tikzpicture}
\tikzstyle{act} = [white,align=center,fill=gray,opacity=.5,text opacity=1]
\node[anchor=center,inner sep=0] at (0,0) {\includegraphics[width=0.8\textwidth,trim={0 5cm 0 5cm}]{media/car.jpg}};
\coordinate (ctr) at (0,0);
\coordinate (fwd) at (5,0);
\coordinate (back) at (-3.5,0);
\coordinate (left) at (0,3);
\coordinate (right) at (0,-3);
\coordinate (fwdleft) at (5,3);
\coordinate (fwdright) at (5,-3);
\coordinate (backleft) at (-3.5,3);
\coordinate (backright) at (-3.5,-3);
\coordinate (farback) at (-6,0);
\draw[->, >=latex, blue!20!white, line width=15pt] (ctr) to node[act]{\RaisedText{accelerate}} (fwd) ;
\draw[->, >=latex, blue, line width=25pt] (ctr) to node[white,left]{\RaisedText{brake}} (farback) ;
\draw[->, >=latex, blue!20!white, line width=15pt] (ctr) to node[act]{\RaisedText{decelerate}} (back) ;
\draw[->, >=latex, blue!20!white, line width=15pt] (ctr) to node[act]{\RaisedText{lane}\\ \RaisedText{change}\\ \RaisedText{left}} (left) ;
\draw[->, >=latex, blue!20!white, line width=15pt] (ctr) to node[act]{\RaisedText{lane}\\ \RaisedText{change}\\ \RaisedText{right}} (right) ;
\draw[->, >=latex, blue!20!white, line width=15pt] (ctr) to node[act]{\RaisedText{accelerate}\\ \RaisedText{and lane}\\ \RaisedText{change left}} (fwdleft) ;
\draw[->, >=latex, blue!20!white, line width=15pt] (ctr) to node[act]{\RaisedText{accelerate}\\ \RaisedText{and lane}\\ \RaisedText{change right}} (fwdright) ;
\draw[->, >=latex, blue!20!white, line width=15pt] (ctr) to node[act]{\RaisedText{decelerate}\\ \RaisedText{and lane}\\ \RaisedText{change left}} (backleft) ;
\draw[->, >=latex, blue!20!white, line width=15pt] (ctr) to node[act]{\RaisedText{decelerate}\\ \RaisedText{and lane}\\ \RaisedText{change right}} (backright) ;
\end{tikzpicture}
\end{document}