fix occgrid plot to reuse ax

aforechi · aforechi · commit 78af16a2e1df · 2023-06-11T15:41:46.000-03:00
diff --git a/roboticstoolbox/mobile/OccGrid.py b/roboticstoolbox/mobile/OccGrid.py
@@ -278,8 +278,8 @@ def plot(self, map=None, ax=None, block=False, **kwargs):
         to control the displayed color of free space and obstacles.
 
         """
-
-        ax = base.axes_logic(ax, 2)
+        if ax is None:
+            ax = base.axes_logic(ax, 2)
 
         if map is None:
             map = self._grid
diff --git a/roboticstoolbox/mobile/PlannerBase.py b/roboticstoolbox/mobile/PlannerBase.py
@@ -903,7 +903,7 @@ def plot_bg(
             # overlay obstacles
             c_map = mpl.colors.ListedColormap(colors)
             # self.occgrid.plot(image, cmap=c_map, zorder=1)
-            self.occgrid.plot(cmap=c_map, zorder=1)
+            self.occgrid.plot(cmap=c_map, zorder=1, ax=ax)
 
         ax.set_facecolor((1, 1, 1))  # create white background
         ax.set_xlabel("x (cells)")
