Q-learning with a table.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "%matplotlib notebook\n",
    "import matplotlib.pyplot as plt\n",
    "from core.envs.grid_world import *\n",
    "from core.rl_utils import *"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## The grid world environment\n",
    "The environment has 8x8 cells, and the agent can execute 4 actions: UP-RIGHT-DOWN-LEFT. The reward is -1 for every state other than the goal state, and +1 at the goal state. The goal state is a terminal state."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/javascript": [
       "/* Put everything inside the global mpl namespace */\n",
       "window.mpl = {};\n",
       "\n",
       "\n",
       "mpl.get_websocket_type = function() {\n",
       "    if (typeof(WebSocket) !== 'undefined') {\n",
       "        return WebSocket;\n",
       "    } else if (typeof(MozWebSocket) !== 'undefined') {\n",
       "        return MozWebSocket;\n",
       "    } else {\n",
       "        alert('Your browser does not have WebSocket support. ' +\n",
       "              'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
       "              'Firefox 4 and 5 are also supported but you ' +\n",
       "              'have to enable WebSockets in about:config.');\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
       "    this.id = figure_id;\n",
       "\n",
       "    this.ws = websocket;\n",
       "\n",
       "    this.supports_binary = (this.ws.binaryType != undefined);\n",
       "\n",
       "    if (!this.supports_binary) {\n",
       "        var warnings = document.getElementById(\"mpl-warnings\");\n",
       "        if (warnings) {\n",
       "            warnings.style.display = 'block';\n",
       "            warnings.textContent = (\n",
       "                \"This browser does not support binary websocket messages. \" +\n",
       "                    \"Performance may be slow.\");\n",
       "        }\n",
       "    }\n",
       "\n",
       "    this.imageObj = new Image();\n",
       "\n",
       "    this.context = undefined;\n",
       "    this.message = undefined;\n",
       "    this.canvas = undefined;\n",
       "    this.rubberband_canvas = undefined;\n",
       "    this.rubberband_context = undefined;\n",
       "    this.format_dropdown = undefined;\n",
       "\n",
       "    this.image_mode = 'full';\n",
       "\n",
       "    this.root = $('<div/>');\n",
       "    this._root_extra_style(this.root)\n",
       "    this.root.attr('style', 'display: inline-block');\n",
       "\n",
       "    $(parent_element).append(this.root);\n",
       "\n",
       "    this._init_header(this);\n",
       "    this._init_canvas(this);\n",
       "    this._init_toolbar(this);\n",
       "\n",
       "    var fig = this;\n",
       "\n",
       "    this.waiting = false;\n",
       "\n",
       "    this.ws.onopen =  function () {\n",
       "            fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
       "            fig.send_message(\"send_image_mode\", {});\n",
       "            if (mpl.ratio != 1) {\n",
       "                fig.send_message(\"set_dpi_ratio\", {'dpi_ratio': mpl.ratio});\n",
       "            }\n",
       "            fig.send_message(\"refresh\", {});\n",
       "        }\n",
       "\n",
       "    this.imageObj.onload = function() {\n",
       "            if (fig.image_mode == 'full') {\n",
       "                // Full images could contain transparency (where diff images\n",
       "                // almost always do), so we need to clear the canvas so that\n",
       "                // there is no ghosting.\n",
       "                fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
       "            }\n",
       "            fig.context.drawImage(fig.imageObj, 0, 0);\n",
       "        };\n",
       "\n",
       "    this.imageObj.onunload = function() {\n",
       "        fig.ws.close();\n",
       "    }\n",
       "\n",
       "    this.ws.onmessage = this._make_on_message_function(this);\n",
       "\n",
       "    this.ondownload = ondownload;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_header = function() {\n",
       "    var titlebar = $(\n",
       "        '<div class=\"ui-dialog-titlebar ui-widget-header ui-corner-all ' +\n",
       "        'ui-helper-clearfix\"/>');\n",
       "    var titletext = $(\n",
       "        '<div class=\"ui-dialog-title\" style=\"width: 100%; ' +\n",
       "        'text-align: center; padding: 3px;\"/>');\n",
       "    titlebar.append(titletext)\n",
       "    this.root.append(titlebar);\n",
       "    this.header = titletext[0];\n",
       "}\n",
       "\n",
       "\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_canvas = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var canvas_div = $('<div/>');\n",
       "\n",
       "    canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
       "\n",
       "    function canvas_keyboard_event(event) {\n",
       "        return fig.key_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    canvas_div.keydown('key_press', canvas_keyboard_event);\n",
       "    canvas_div.keyup('key_release', canvas_keyboard_event);\n",
       "    this.canvas_div = canvas_div\n",
       "    this._canvas_extra_style(canvas_div)\n",
       "    this.root.append(canvas_div);\n",
       "\n",
       "    var canvas = $('<canvas/>');\n",
       "    canvas.addClass('mpl-canvas');\n",
       "    canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
       "\n",
       "    this.canvas = canvas[0];\n",
       "    this.context = canvas[0].getContext(\"2d\");\n",
       "\n",
       "    var backingStore = this.context.backingStorePixelRatio ||\n",
       "\tthis.context.webkitBackingStorePixelRatio ||\n",
       "\tthis.context.mozBackingStorePixelRatio ||\n",
       "\tthis.context.msBackingStorePixelRatio ||\n",
       "\tthis.context.oBackingStorePixelRatio ||\n",
       "\tthis.context.backingStorePixelRatio || 1;\n",
       "\n",
       "    mpl.ratio = (window.devicePixelRatio || 1) / backingStore;\n",
       "\n",
       "    var rubberband = $('<canvas/>');\n",
       "    rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
       "\n",
       "    var pass_mouse_events = true;\n",
       "\n",
       "    canvas_div.resizable({\n",
       "        start: function(event, ui) {\n",
       "            pass_mouse_events = false;\n",
       "        },\n",
       "        resize: function(event, ui) {\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "        stop: function(event, ui) {\n",
       "            pass_mouse_events = true;\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "    });\n",
       "\n",
       "    function mouse_event_fn(event) {\n",
       "        if (pass_mouse_events)\n",
       "            return fig.mouse_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    rubberband.mousedown('button_press', mouse_event_fn);\n",
       "    rubberband.mouseup('button_release', mouse_event_fn);\n",
       "    // Throttle sequential mouse events to 1 every 20ms.\n",
       "    rubberband.mousemove('motion_notify', mouse_event_fn);\n",
       "\n",
       "    rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
       "    rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
       "\n",
       "    canvas_div.on(\"wheel\", function (event) {\n",
       "        event = event.originalEvent;\n",
       "        event['data'] = 'scroll'\n",
       "        if (event.deltaY < 0) {\n",
       "            event.step = 1;\n",
       "        } else {\n",
       "            event.step = -1;\n",
       "        }\n",
       "        mouse_event_fn(event);\n",
       "    });\n",
       "\n",
       "    canvas_div.append(canvas);\n",
       "    canvas_div.append(rubberband);\n",
       "\n",
       "    this.rubberband = rubberband;\n",
       "    this.rubberband_canvas = rubberband[0];\n",
       "    this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
       "    this.rubberband_context.strokeStyle = \"#000000\";\n",
       "\n",
       "    this._resize_canvas = function(width, height) {\n",
       "        // Keep the size of the canvas, canvas container, and rubber band\n",
       "        // canvas in synch.\n",
       "        canvas_div.css('width', width)\n",
       "        canvas_div.css('height', height)\n",
       "\n",
       "        canvas.attr('width', width * mpl.ratio);\n",
       "        canvas.attr('height', height * mpl.ratio);\n",
       "        canvas.attr('style', 'width: ' + width + 'px; height: ' + height + 'px;');\n",
       "\n",
       "        rubberband.attr('width', width);\n",
       "        rubberband.attr('height', height);\n",
       "    }\n",
       "\n",
       "    // Set the figure to an initial 600x600px, this will subsequently be updated\n",
       "    // upon first draw.\n",
       "    this._resize_canvas(600, 600);\n",
       "\n",
       "    // Disable right mouse context menu.\n",
       "    $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
       "        return false;\n",
       "    });\n",
       "\n",
       "    function set_focus () {\n",
       "        canvas.focus();\n",
       "        canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    window.setTimeout(set_focus, 100);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items) {\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) {\n",
       "            // put a spacer in here.\n",
       "            continue;\n",
       "        }\n",
       "        var button = $('<button/>');\n",
       "        button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
       "                        'ui-button-icon-only');\n",
       "        button.attr('role', 'button');\n",
       "        button.attr('aria-disabled', 'false');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "\n",
       "        var icon_img = $('<span/>');\n",
       "        icon_img.addClass('ui-button-icon-primary ui-icon');\n",
       "        icon_img.addClass(image);\n",
       "        icon_img.addClass('ui-corner-all');\n",
       "\n",
       "        var tooltip_span = $('<span/>');\n",
       "        tooltip_span.addClass('ui-button-text');\n",
       "        tooltip_span.html(tooltip);\n",
       "\n",
       "        button.append(icon_img);\n",
       "        button.append(tooltip_span);\n",
       "\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    var fmt_picker_span = $('<span/>');\n",
       "\n",
       "    var fmt_picker = $('<select/>');\n",
       "    fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
       "    fmt_picker_span.append(fmt_picker);\n",
       "    nav_element.append(fmt_picker_span);\n",
       "    this.format_dropdown = fmt_picker[0];\n",
       "\n",
       "    for (var ind in mpl.extensions) {\n",
       "        var fmt = mpl.extensions[ind];\n",
       "        var option = $(\n",
       "            '<option/>', {selected: fmt === mpl.default_extension}).html(fmt);\n",
       "        fmt_picker.append(option);\n",
       "    }\n",
       "\n",
       "    // Add hover states to the ui-buttons\n",
       "    $( \".ui-button\" ).hover(\n",
       "        function() { $(this).addClass(\"ui-state-hover\");},\n",
       "        function() { $(this).removeClass(\"ui-state-hover\");}\n",
       "    );\n",
       "\n",
       "    var status_bar = $('<span class=\"mpl-message\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
       "    // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
       "    // which will in turn request a refresh of the image.\n",
       "    this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_message = function(type, properties) {\n",
       "    properties['type'] = type;\n",
       "    properties['figure_id'] = this.id;\n",
       "    this.ws.send(JSON.stringify(properties));\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_draw_message = function() {\n",
       "    if (!this.waiting) {\n",
       "        this.waiting = true;\n",
       "        this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
       "    }\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    var format_dropdown = fig.format_dropdown;\n",
       "    var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
       "    fig.ondownload(fig, format);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
       "    var size = msg['size'];\n",
       "    if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
       "        fig._resize_canvas(size[0], size[1]);\n",
       "        fig.send_message(\"refresh\", {});\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
       "    var x0 = msg['x0'] / mpl.ratio;\n",
       "    var y0 = (fig.canvas.height - msg['y0']) / mpl.ratio;\n",
       "    var x1 = msg['x1'] / mpl.ratio;\n",
       "    var y1 = (fig.canvas.height - msg['y1']) / mpl.ratio;\n",
       "    x0 = Math.floor(x0) + 0.5;\n",
       "    y0 = Math.floor(y0) + 0.5;\n",
       "    x1 = Math.floor(x1) + 0.5;\n",
       "    y1 = Math.floor(y1) + 0.5;\n",
       "    var min_x = Math.min(x0, x1);\n",
       "    var min_y = Math.min(y0, y1);\n",
       "    var width = Math.abs(x1 - x0);\n",
       "    var height = Math.abs(y1 - y0);\n",
       "\n",
       "    fig.rubberband_context.clearRect(\n",
       "        0, 0, fig.canvas.width / mpl.ratio, fig.canvas.height / mpl.ratio);\n",
       "\n",
       "    fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
       "    // Updates the figure title.\n",
       "    fig.header.textContent = msg['label'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
       "    var cursor = msg['cursor'];\n",
       "    switch(cursor)\n",
       "    {\n",
       "    case 0:\n",
       "        cursor = 'pointer';\n",
       "        break;\n",
       "    case 1:\n",
       "        cursor = 'default';\n",
       "        break;\n",
       "    case 2:\n",
       "        cursor = 'crosshair';\n",
       "        break;\n",
       "    case 3:\n",
       "        cursor = 'move';\n",
       "        break;\n",
       "    }\n",
       "    fig.rubberband_canvas.style.cursor = cursor;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
       "    fig.message.textContent = msg['message'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
       "    // Request the server to send over a new figure.\n",
       "    fig.send_draw_message();\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
       "    fig.image_mode = msg['mode'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Called whenever the canvas gets updated.\n",
       "    this.send_message(\"ack\", {});\n",
       "}\n",
       "\n",
       "// A function to construct a web socket function for onmessage handling.\n",
       "// Called in the figure constructor.\n",
       "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
       "    return function socket_on_message(evt) {\n",
       "        if (evt.data instanceof Blob) {\n",
       "            /* FIXME: We get \"Resource interpreted as Image but\n",
       "             * transferred with MIME type text/plain:\" errors on\n",
       "             * Chrome.  But how to set the MIME type?  It doesn't seem\n",
       "             * to be part of the websocket stream */\n",
       "            evt.data.type = \"image/png\";\n",
       "\n",
       "            /* Free the memory for the previous frames */\n",
       "            if (fig.imageObj.src) {\n",
       "                (window.URL || window.webkitURL).revokeObjectURL(\n",
       "                    fig.imageObj.src);\n",
       "            }\n",
       "\n",
       "            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
       "                evt.data);\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "        else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
       "            fig.imageObj.src = evt.data;\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        var msg = JSON.parse(evt.data);\n",
       "        var msg_type = msg['type'];\n",
       "\n",
       "        // Call the  \"handle_{type}\" callback, which takes\n",
       "        // the figure and JSON message as its only arguments.\n",
       "        try {\n",
       "            var callback = fig[\"handle_\" + msg_type];\n",
       "        } catch (e) {\n",
       "            console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        if (callback) {\n",
       "            try {\n",
       "                // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
       "                callback(fig, msg);\n",
       "            } catch (e) {\n",
       "                console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
       "            }\n",
       "        }\n",
       "    };\n",
       "}\n",
       "\n",
       "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
       "mpl.findpos = function(e) {\n",
       "    //this section is from http://www.quirksmode.org/js/events_properties.html\n",
       "    var targ;\n",
       "    if (!e)\n",
       "        e = window.event;\n",
       "    if (e.target)\n",
       "        targ = e.target;\n",
       "    else if (e.srcElement)\n",
       "        targ = e.srcElement;\n",
       "    if (targ.nodeType == 3) // defeat Safari bug\n",
       "        targ = targ.parentNode;\n",
       "\n",
       "    // jQuery normalizes the pageX and pageY\n",
       "    // pageX,Y are the mouse positions relative to the document\n",
       "    // offset() returns the position of the element relative to the document\n",
       "    var x = e.pageX - $(targ).offset().left;\n",
       "    var y = e.pageY - $(targ).offset().top;\n",
       "\n",
       "    return {\"x\": x, \"y\": y};\n",
       "};\n",
       "\n",
       "/*\n",
       " * return a copy of an object with only non-object keys\n",
       " * we need this to avoid circular references\n",
       " * http://stackoverflow.com/a/24161582/3208463\n",
       " */\n",
       "function simpleKeys (original) {\n",
       "  return Object.keys(original).reduce(function (obj, key) {\n",
       "    if (typeof original[key] !== 'object')\n",
       "        obj[key] = original[key]\n",
       "    return obj;\n",
       "  }, {});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.mouse_event = function(event, name) {\n",
       "    var canvas_pos = mpl.findpos(event)\n",
       "\n",
       "    if (name === 'button_press')\n",
       "    {\n",
       "        this.canvas.focus();\n",
       "        this.canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    var x = canvas_pos.x * mpl.ratio;\n",
       "    var y = canvas_pos.y * mpl.ratio;\n",
       "\n",
       "    this.send_message(name, {x: x, y: y, button: event.button,\n",
       "                             step: event.step,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "\n",
       "    /* This prevents the web browser from automatically changing to\n",
       "     * the text insertion cursor when the button is pressed.  We want\n",
       "     * to control all of the cursor setting manually through the\n",
       "     * 'cursor' event from matplotlib */\n",
       "    event.preventDefault();\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    // Handle any extra behaviour associated with a key event\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.key_event = function(event, name) {\n",
       "\n",
       "    // Prevent repeat events\n",
       "    if (name == 'key_press')\n",
       "    {\n",
       "        if (event.which === this._key)\n",
       "            return;\n",
       "        else\n",
       "            this._key = event.which;\n",
       "    }\n",
       "    if (name == 'key_release')\n",
       "        this._key = null;\n",
       "\n",
       "    var value = '';\n",
       "    if (event.ctrlKey && event.which != 17)\n",
       "        value += \"ctrl+\";\n",
       "    if (event.altKey && event.which != 18)\n",
       "        value += \"alt+\";\n",
       "    if (event.shiftKey && event.which != 16)\n",
       "        value += \"shift+\";\n",
       "\n",
       "    value += 'k';\n",
       "    value += event.which.toString();\n",
       "\n",
       "    this._key_event_extra(event, name);\n",
       "\n",
       "    this.send_message(name, {key: value,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
       "    if (name == 'download') {\n",
       "        this.handle_save(this, null);\n",
       "    } else {\n",
       "        this.send_message(\"toolbar_button\", {name: name});\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
       "    this.message.textContent = tooltip;\n",
       "};\n",
       "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
       "\n",
       "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
       "\n",
       "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
       "    // Create a \"websocket\"-like object which calls the given IPython comm\n",
       "    // object with the appropriate methods. Currently this is a non binary\n",
       "    // socket, so there is still some room for performance tuning.\n",
       "    var ws = {};\n",
       "\n",
       "    ws.close = function() {\n",
       "        comm.close()\n",
       "    };\n",
       "    ws.send = function(m) {\n",
       "        //console.log('sending', m);\n",
       "        comm.send(m);\n",
       "    };\n",
       "    // Register the callback with on_msg.\n",
       "    comm.on_msg(function(msg) {\n",
       "        //console.log('receiving', msg['content']['data'], msg);\n",
       "        // Pass the mpl event to the overridden (by mpl) onmessage function.\n",
       "        ws.onmessage(msg['content']['data'])\n",
       "    });\n",
       "    return ws;\n",
       "}\n",
       "\n",
       "mpl.mpl_figure_comm = function(comm, msg) {\n",
       "    // This is the function which gets called when the mpl process\n",
       "    // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
       "\n",
       "    var id = msg.content.data.id;\n",
       "    // Get hold of the div created by the display call when the Comm\n",
       "    // socket was opened in Python.\n",
       "    var element = $(\"#\" + id);\n",
       "    var ws_proxy = comm_websocket_adapter(comm)\n",
       "\n",
       "    function ondownload(figure, format) {\n",
       "        window.open(figure.imageObj.src);\n",
       "    }\n",
       "\n",
       "    var fig = new mpl.figure(id, ws_proxy,\n",
       "                           ondownload,\n",
       "                           element.get(0));\n",
       "\n",
       "    // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
       "    // web socket which is closed, not our websocket->open comm proxy.\n",
       "    ws_proxy.onopen();\n",
       "\n",
       "    fig.parent_element = element.get(0);\n",
       "    fig.cell_info = mpl.find_output_cell(\"<div id='\" + id + \"'></div>\");\n",
       "    if (!fig.cell_info) {\n",
       "        console.error(\"Failed to find cell for figure\", id, fig);\n",
       "        return;\n",
       "    }\n",
       "\n",
       "    var output_index = fig.cell_info[2]\n",
       "    var cell = fig.cell_info[0];\n",
       "\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
       "    var width = fig.canvas.width/mpl.ratio\n",
       "    fig.root.unbind('remove')\n",
       "\n",
       "    // Update the output cell to use the data from the current canvas.\n",
       "    fig.push_to_output();\n",
       "    var dataURL = fig.canvas.toDataURL();\n",
       "    // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
       "    // the notebook keyboard shortcuts fail.\n",
       "    IPython.keyboard_manager.enable()\n",
       "    $(fig.parent_element).html('<img src=\"' + dataURL + '\" width=\"' + width + '\">');\n",
       "    fig.close_ws(fig, msg);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.close_ws = function(fig, msg){\n",
       "    fig.send_message('closing', msg);\n",
       "    // fig.ws.close()\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
       "    // Turn the data on the canvas into data in the output cell.\n",
       "    var width = this.canvas.width/mpl.ratio\n",
       "    var dataURL = this.canvas.toDataURL();\n",
       "    this.cell_info[1]['text/html'] = '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Tell IPython that the notebook contents must change.\n",
       "    IPython.notebook.set_dirty(true);\n",
       "    this.send_message(\"ack\", {});\n",
       "    var fig = this;\n",
       "    // Wait a second, then push the new image to the DOM so\n",
       "    // that it is saved nicely (might be nice to debounce this).\n",
       "    setTimeout(function () { fig.push_to_output() }, 1000);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items){\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) { continue; };\n",
       "\n",
       "        var button = $('<button class=\"btn btn-default\" href=\"#\" title=\"' + name + '\"><i class=\"fa ' + image + ' fa-lg\"></i></button>');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    // Add the status bar.\n",
       "    var status_bar = $('<span class=\"mpl-message\" style=\"text-align:right; float: right;\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "\n",
       "    // Add the close button to the window.\n",
       "    var buttongrp = $('<div class=\"btn-group inline pull-right\"></div>');\n",
       "    var button = $('<button class=\"btn btn-mini btn-primary\" href=\"#\" title=\"Stop Interaction\"><i class=\"fa fa-power-off icon-remove icon-large\"></i></button>');\n",
       "    button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
       "    button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
       "    buttongrp.append(button);\n",
       "    var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
       "    titlebar.prepend(buttongrp);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(el){\n",
       "    var fig = this\n",
       "    el.on(\"remove\", function(){\n",
       "\tfig.close_ws(fig, {});\n",
       "    });\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(el){\n",
       "    // this is important to make the div 'focusable\n",
       "    el.attr('tabindex', 0)\n",
       "    // reach out to IPython and tell the keyboard manager to turn it's self\n",
       "    // off when our div gets focus\n",
       "\n",
       "    // location in version 3\n",
       "    if (IPython.notebook.keyboard_manager) {\n",
       "        IPython.notebook.keyboard_manager.register_events(el);\n",
       "    }\n",
       "    else {\n",
       "        // location in version 2\n",
       "        IPython.keyboard_manager.register_events(el);\n",
       "    }\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    var manager = IPython.notebook.keyboard_manager;\n",
       "    if (!manager)\n",
       "        manager = IPython.keyboard_manager;\n",
       "\n",
       "    // Check for shift+enter\n",
       "    if (event.shiftKey && event.which == 13) {\n",
       "        this.canvas_div.blur();\n",
       "        event.shiftKey = false;\n",
       "        // Send a \"J\" for go to next cell\n",
       "        event.which = 74;\n",
       "        event.keyCode = 74;\n",
       "        manager.command_mode();\n",
       "        manager.handle_keydown(event);\n",
       "    }\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    fig.ondownload(fig, null);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.find_output_cell = function(html_output) {\n",
       "    // Return the cell and output element which can be found *uniquely* in the notebook.\n",
       "    // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
       "    // IPython event is triggered only after the cells have been serialised, which for\n",
       "    // our purposes (turning an active figure into a static one), is too late.\n",
       "    var cells = IPython.notebook.get_cells();\n",
       "    var ncells = cells.length;\n",
       "    for (var i=0; i<ncells; i++) {\n",
       "        var cell = cells[i];\n",
       "        if (cell.cell_type === 'code'){\n",
       "            for (var j=0; j<cell.output_area.outputs.length; j++) {\n",
       "                var data = cell.output_area.outputs[j];\n",
       "                if (data.data) {\n",
       "                    // IPython >= 3 moved mimebundle to data attribute of output\n",
       "                    data = data.data;\n",
       "                }\n",
       "                if (data['text/html'] == html_output) {\n",
       "                    return [cell, data, j];\n",
       "                }\n",
       "            }\n",
       "        }\n",
       "    }\n",
       "}\n",
       "\n",
       "// Register the function which deals with the matplotlib target/channel.\n",
       "// The kernel may be null if the page has been refreshed.\n",
       "if (IPython.notebook.kernel != null) {\n",
       "    IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
       "}\n"
      ],
      "text/plain": [
       "<IPython.core.display.Javascript object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "text/html": [
       "<img src=\"data:image/png;base64,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\" width=\"300\">"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "env = Grid_World()                         # Instance of the environment\n",
    "state = env.reset()                        # Reset the environment\n",
    "for step in range(50):                     # Loop over steps\n",
    "    action = np.random.randint(4)          # Select random action\n",
    "    state, reward, done = env.step(action) # Execute selected action\n",
    "    env.render()                           # Render environment"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Tabular Q-learning: training the agent"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/javascript": [
       "/* Put everything inside the global mpl namespace */\n",
       "window.mpl = {};\n",
       "\n",
       "\n",
       "mpl.get_websocket_type = function() {\n",
       "    if (typeof(WebSocket) !== 'undefined') {\n",
       "        return WebSocket;\n",
       "    } else if (typeof(MozWebSocket) !== 'undefined') {\n",
       "        return MozWebSocket;\n",
       "    } else {\n",
       "        alert('Your browser does not have WebSocket support. ' +\n",
       "              'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
       "              'Firefox 4 and 5 are also supported but you ' +\n",
       "              'have to enable WebSockets in about:config.');\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
       "    this.id = figure_id;\n",
       "\n",
       "    this.ws = websocket;\n",
       "\n",
       "    this.supports_binary = (this.ws.binaryType != undefined);\n",
       "\n",
       "    if (!this.supports_binary) {\n",
       "        var warnings = document.getElementById(\"mpl-warnings\");\n",
       "        if (warnings) {\n",
       "            warnings.style.display = 'block';\n",
       "            warnings.textContent = (\n",
       "                \"This browser does not support binary websocket messages. \" +\n",
       "                    \"Performance may be slow.\");\n",
       "        }\n",
       "    }\n",
       "\n",
       "    this.imageObj = new Image();\n",
       "\n",
       "    this.context = undefined;\n",
       "    this.message = undefined;\n",
       "    this.canvas = undefined;\n",
       "    this.rubberband_canvas = undefined;\n",
       "    this.rubberband_context = undefined;\n",
       "    this.format_dropdown = undefined;\n",
       "\n",
       "    this.image_mode = 'full';\n",
       "\n",
       "    this.root = $('<div/>');\n",
       "    this._root_extra_style(this.root)\n",
       "    this.root.attr('style', 'display: inline-block');\n",
       "\n",
       "    $(parent_element).append(this.root);\n",
       "\n",
       "    this._init_header(this);\n",
       "    this._init_canvas(this);\n",
       "    this._init_toolbar(this);\n",
       "\n",
       "    var fig = this;\n",
       "\n",
       "    this.waiting = false;\n",
       "\n",
       "    this.ws.onopen =  function () {\n",
       "            fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
       "            fig.send_message(\"send_image_mode\", {});\n",
       "            if (mpl.ratio != 1) {\n",
       "                fig.send_message(\"set_dpi_ratio\", {'dpi_ratio': mpl.ratio});\n",
       "            }\n",
       "            fig.send_message(\"refresh\", {});\n",
       "        }\n",
       "\n",
       "    this.imageObj.onload = function() {\n",
       "            if (fig.image_mode == 'full') {\n",
       "                // Full images could contain transparency (where diff images\n",
       "                // almost always do), so we need to clear the canvas so that\n",
       "                // there is no ghosting.\n",
       "                fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
       "            }\n",
       "            fig.context.drawImage(fig.imageObj, 0, 0);\n",
       "        };\n",
       "\n",
       "    this.imageObj.onunload = function() {\n",
       "        fig.ws.close();\n",
       "    }\n",
       "\n",
       "    this.ws.onmessage = this._make_on_message_function(this);\n",
       "\n",
       "    this.ondownload = ondownload;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_header = function() {\n",
       "    var titlebar = $(\n",
       "        '<div class=\"ui-dialog-titlebar ui-widget-header ui-corner-all ' +\n",
       "        'ui-helper-clearfix\"/>');\n",
       "    var titletext = $(\n",
       "        '<div class=\"ui-dialog-title\" style=\"width: 100%; ' +\n",
       "        'text-align: center; padding: 3px;\"/>');\n",
       "    titlebar.append(titletext)\n",
       "    this.root.append(titlebar);\n",
       "    this.header = titletext[0];\n",
       "}\n",
       "\n",
       "\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_canvas = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var canvas_div = $('<div/>');\n",
       "\n",
       "    canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
       "\n",
       "    function canvas_keyboard_event(event) {\n",
       "        return fig.key_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    canvas_div.keydown('key_press', canvas_keyboard_event);\n",
       "    canvas_div.keyup('key_release', canvas_keyboard_event);\n",
       "    this.canvas_div = canvas_div\n",
       "    this._canvas_extra_style(canvas_div)\n",
       "    this.root.append(canvas_div);\n",
       "\n",
       "    var canvas = $('<canvas/>');\n",
       "    canvas.addClass('mpl-canvas');\n",
       "    canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
       "\n",
       "    this.canvas = canvas[0];\n",
       "    this.context = canvas[0].getContext(\"2d\");\n",
       "\n",
       "    var backingStore = this.context.backingStorePixelRatio ||\n",
       "\tthis.context.webkitBackingStorePixelRatio ||\n",
       "\tthis.context.mozBackingStorePixelRatio ||\n",
       "\tthis.context.msBackingStorePixelRatio ||\n",
       "\tthis.context.oBackingStorePixelRatio ||\n",
       "\tthis.context.backingStorePixelRatio || 1;\n",
       "\n",
       "    mpl.ratio = (window.devicePixelRatio || 1) / backingStore;\n",
       "\n",
       "    var rubberband = $('<canvas/>');\n",
       "    rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
       "\n",
       "    var pass_mouse_events = true;\n",
       "\n",
       "    canvas_div.resizable({\n",
       "        start: function(event, ui) {\n",
       "            pass_mouse_events = false;\n",
       "        },\n",
       "        resize: function(event, ui) {\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "        stop: function(event, ui) {\n",
       "            pass_mouse_events = true;\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "    });\n",
       "\n",
       "    function mouse_event_fn(event) {\n",
       "        if (pass_mouse_events)\n",
       "            return fig.mouse_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    rubberband.mousedown('button_press', mouse_event_fn);\n",
       "    rubberband.mouseup('button_release', mouse_event_fn);\n",
       "    // Throttle sequential mouse events to 1 every 20ms.\n",
       "    rubberband.mousemove('motion_notify', mouse_event_fn);\n",
       "\n",
       "    rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
       "    rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
       "\n",
       "    canvas_div.on(\"wheel\", function (event) {\n",
       "        event = event.originalEvent;\n",
       "        event['data'] = 'scroll'\n",
       "        if (event.deltaY < 0) {\n",
       "            event.step = 1;\n",
       "        } else {\n",
       "            event.step = -1;\n",
       "        }\n",
       "        mouse_event_fn(event);\n",
       "    });\n",
       "\n",
       "    canvas_div.append(canvas);\n",
       "    canvas_div.append(rubberband);\n",
       "\n",
       "    this.rubberband = rubberband;\n",
       "    this.rubberband_canvas = rubberband[0];\n",
       "    this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
       "    this.rubberband_context.strokeStyle = \"#000000\";\n",
       "\n",
       "    this._resize_canvas = function(width, height) {\n",
       "        // Keep the size of the canvas, canvas container, and rubber band\n",
       "        // canvas in synch.\n",
       "        canvas_div.css('width', width)\n",
       "        canvas_div.css('height', height)\n",
       "\n",
       "        canvas.attr('width', width * mpl.ratio);\n",
       "        canvas.attr('height', height * mpl.ratio);\n",
       "        canvas.attr('style', 'width: ' + width + 'px; height: ' + height + 'px;');\n",
       "\n",
       "        rubberband.attr('width', width);\n",
       "        rubberband.attr('height', height);\n",
       "    }\n",
       "\n",
       "    // Set the figure to an initial 600x600px, this will subsequently be updated\n",
       "    // upon first draw.\n",
       "    this._resize_canvas(600, 600);\n",
       "\n",
       "    // Disable right mouse context menu.\n",
       "    $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
       "        return false;\n",
       "    });\n",
       "\n",
       "    function set_focus () {\n",
       "        canvas.focus();\n",
       "        canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    window.setTimeout(set_focus, 100);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items) {\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) {\n",
       "            // put a spacer in here.\n",
       "            continue;\n",
       "        }\n",
       "        var button = $('<button/>');\n",
       "        button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
       "                        'ui-button-icon-only');\n",
       "        button.attr('role', 'button');\n",
       "        button.attr('aria-disabled', 'false');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "\n",
       "        var icon_img = $('<span/>');\n",
       "        icon_img.addClass('ui-button-icon-primary ui-icon');\n",
       "        icon_img.addClass(image);\n",
       "        icon_img.addClass('ui-corner-all');\n",
       "\n",
       "        var tooltip_span = $('<span/>');\n",
       "        tooltip_span.addClass('ui-button-text');\n",
       "        tooltip_span.html(tooltip);\n",
       "\n",
       "        button.append(icon_img);\n",
       "        button.append(tooltip_span);\n",
       "\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    var fmt_picker_span = $('<span/>');\n",
       "\n",
       "    var fmt_picker = $('<select/>');\n",
       "    fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
       "    fmt_picker_span.append(fmt_picker);\n",
       "    nav_element.append(fmt_picker_span);\n",
       "    this.format_dropdown = fmt_picker[0];\n",
       "\n",
       "    for (var ind in mpl.extensions) {\n",
       "        var fmt = mpl.extensions[ind];\n",
       "        var option = $(\n",
       "            '<option/>', {selected: fmt === mpl.default_extension}).html(fmt);\n",
       "        fmt_picker.append(option);\n",
       "    }\n",
       "\n",
       "    // Add hover states to the ui-buttons\n",
       "    $( \".ui-button\" ).hover(\n",
       "        function() { $(this).addClass(\"ui-state-hover\");},\n",
       "        function() { $(this).removeClass(\"ui-state-hover\");}\n",
       "    );\n",
       "\n",
       "    var status_bar = $('<span class=\"mpl-message\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
       "    // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
       "    // which will in turn request a refresh of the image.\n",
       "    this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_message = function(type, properties) {\n",
       "    properties['type'] = type;\n",
       "    properties['figure_id'] = this.id;\n",
       "    this.ws.send(JSON.stringify(properties));\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_draw_message = function() {\n",
       "    if (!this.waiting) {\n",
       "        this.waiting = true;\n",
       "        this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
       "    }\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    var format_dropdown = fig.format_dropdown;\n",
       "    var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
       "    fig.ondownload(fig, format);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
       "    var size = msg['size'];\n",
       "    if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
       "        fig._resize_canvas(size[0], size[1]);\n",
       "        fig.send_message(\"refresh\", {});\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
       "    var x0 = msg['x0'] / mpl.ratio;\n",
       "    var y0 = (fig.canvas.height - msg['y0']) / mpl.ratio;\n",
       "    var x1 = msg['x1'] / mpl.ratio;\n",
       "    var y1 = (fig.canvas.height - msg['y1']) / mpl.ratio;\n",
       "    x0 = Math.floor(x0) + 0.5;\n",
       "    y0 = Math.floor(y0) + 0.5;\n",
       "    x1 = Math.floor(x1) + 0.5;\n",
       "    y1 = Math.floor(y1) + 0.5;\n",
       "    var min_x = Math.min(x0, x1);\n",
       "    var min_y = Math.min(y0, y1);\n",
       "    var width = Math.abs(x1 - x0);\n",
       "    var height = Math.abs(y1 - y0);\n",
       "\n",
       "    fig.rubberband_context.clearRect(\n",
       "        0, 0, fig.canvas.width / mpl.ratio, fig.canvas.height / mpl.ratio);\n",
       "\n",
       "    fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
       "    // Updates the figure title.\n",
       "    fig.header.textContent = msg['label'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
       "    var cursor = msg['cursor'];\n",
       "    switch(cursor)\n",
       "    {\n",
       "    case 0:\n",
       "        cursor = 'pointer';\n",
       "        break;\n",
       "    case 1:\n",
       "        cursor = 'default';\n",
       "        break;\n",
       "    case 2:\n",
       "        cursor = 'crosshair';\n",
       "        break;\n",
       "    case 3:\n",
       "        cursor = 'move';\n",
       "        break;\n",
       "    }\n",
       "    fig.rubberband_canvas.style.cursor = cursor;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
       "    fig.message.textContent = msg['message'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
       "    // Request the server to send over a new figure.\n",
       "    fig.send_draw_message();\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
       "    fig.image_mode = msg['mode'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Called whenever the canvas gets updated.\n",
       "    this.send_message(\"ack\", {});\n",
       "}\n",
       "\n",
       "// A function to construct a web socket function for onmessage handling.\n",
       "// Called in the figure constructor.\n",
       "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
       "    return function socket_on_message(evt) {\n",
       "        if (evt.data instanceof Blob) {\n",
       "            /* FIXME: We get \"Resource interpreted as Image but\n",
       "             * transferred with MIME type text/plain:\" errors on\n",
       "             * Chrome.  But how to set the MIME type?  It doesn't seem\n",
       "             * to be part of the websocket stream */\n",
       "            evt.data.type = \"image/png\";\n",
       "\n",
       "            /* Free the memory for the previous frames */\n",
       "            if (fig.imageObj.src) {\n",
       "                (window.URL || window.webkitURL).revokeObjectURL(\n",
       "                    fig.imageObj.src);\n",
       "            }\n",
       "\n",
       "            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
       "                evt.data);\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "        else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
       "            fig.imageObj.src = evt.data;\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        var msg = JSON.parse(evt.data);\n",
       "        var msg_type = msg['type'];\n",
       "\n",
       "        // Call the  \"handle_{type}\" callback, which takes\n",
       "        // the figure and JSON message as its only arguments.\n",
       "        try {\n",
       "            var callback = fig[\"handle_\" + msg_type];\n",
       "        } catch (e) {\n",
       "            console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        if (callback) {\n",
       "            try {\n",
       "                // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
       "                callback(fig, msg);\n",
       "            } catch (e) {\n",
       "                console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
       "            }\n",
       "        }\n",
       "    };\n",
       "}\n",
       "\n",
       "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
       "mpl.findpos = function(e) {\n",
       "    //this section is from http://www.quirksmode.org/js/events_properties.html\n",
       "    var targ;\n",
       "    if (!e)\n",
       "        e = window.event;\n",
       "    if (e.target)\n",
       "        targ = e.target;\n",
       "    else if (e.srcElement)\n",
       "        targ = e.srcElement;\n",
       "    if (targ.nodeType == 3) // defeat Safari bug\n",
       "        targ = targ.parentNode;\n",
       "\n",
       "    // jQuery normalizes the pageX and pageY\n",
       "    // pageX,Y are the mouse positions relative to the document\n",
       "    // offset() returns the position of the element relative to the document\n",
       "    var x = e.pageX - $(targ).offset().left;\n",
       "    var y = e.pageY - $(targ).offset().top;\n",
       "\n",
       "    return {\"x\": x, \"y\": y};\n",
       "};\n",
       "\n",
       "/*\n",
       " * return a copy of an object with only non-object keys\n",
       " * we need this to avoid circular references\n",
       " * http://stackoverflow.com/a/24161582/3208463\n",
       " */\n",
       "function simpleKeys (original) {\n",
       "  return Object.keys(original).reduce(function (obj, key) {\n",
       "    if (typeof original[key] !== 'object')\n",
       "        obj[key] = original[key]\n",
       "    return obj;\n",
       "  }, {});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.mouse_event = function(event, name) {\n",
       "    var canvas_pos = mpl.findpos(event)\n",
       "\n",
       "    if (name === 'button_press')\n",
       "    {\n",
       "        this.canvas.focus();\n",
       "        this.canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    var x = canvas_pos.x * mpl.ratio;\n",
       "    var y = canvas_pos.y * mpl.ratio;\n",
       "\n",
       "    this.send_message(name, {x: x, y: y, button: event.button,\n",
       "                             step: event.step,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "\n",
       "    /* This prevents the web browser from automatically changing to\n",
       "     * the text insertion cursor when the button is pressed.  We want\n",
       "     * to control all of the cursor setting manually through the\n",
       "     * 'cursor' event from matplotlib */\n",
       "    event.preventDefault();\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    // Handle any extra behaviour associated with a key event\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.key_event = function(event, name) {\n",
       "\n",
       "    // Prevent repeat events\n",
       "    if (name == 'key_press')\n",
       "    {\n",
       "        if (event.which === this._key)\n",
       "            return;\n",
       "        else\n",
       "            this._key = event.which;\n",
       "    }\n",
       "    if (name == 'key_release')\n",
       "        this._key = null;\n",
       "\n",
       "    var value = '';\n",
       "    if (event.ctrlKey && event.which != 17)\n",
       "        value += \"ctrl+\";\n",
       "    if (event.altKey && event.which != 18)\n",
       "        value += \"alt+\";\n",
       "    if (event.shiftKey && event.which != 16)\n",
       "        value += \"shift+\";\n",
       "\n",
       "    value += 'k';\n",
       "    value += event.which.toString();\n",
       "\n",
       "    this._key_event_extra(event, name);\n",
       "\n",
       "    this.send_message(name, {key: value,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
       "    if (name == 'download') {\n",
       "        this.handle_save(this, null);\n",
       "    } else {\n",
       "        this.send_message(\"toolbar_button\", {name: name});\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
       "    this.message.textContent = tooltip;\n",
       "};\n",
       "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
       "\n",
       "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
       "\n",
       "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
       "    // Create a \"websocket\"-like object which calls the given IPython comm\n",
       "    // object with the appropriate methods. Currently this is a non binary\n",
       "    // socket, so there is still some room for performance tuning.\n",
       "    var ws = {};\n",
       "\n",
       "    ws.close = function() {\n",
       "        comm.close()\n",
       "    };\n",
       "    ws.send = function(m) {\n",
       "        //console.log('sending', m);\n",
       "        comm.send(m);\n",
       "    };\n",
       "    // Register the callback with on_msg.\n",
       "    comm.on_msg(function(msg) {\n",
       "        //console.log('receiving', msg['content']['data'], msg);\n",
       "        // Pass the mpl event to the overridden (by mpl) onmessage function.\n",
       "        ws.onmessage(msg['content']['data'])\n",
       "    });\n",
       "    return ws;\n",
       "}\n",
       "\n",
       "mpl.mpl_figure_comm = function(comm, msg) {\n",
       "    // This is the function which gets called when the mpl process\n",
       "    // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
       "\n",
       "    var id = msg.content.data.id;\n",
       "    // Get hold of the div created by the display call when the Comm\n",
       "    // socket was opened in Python.\n",
       "    var element = $(\"#\" + id);\n",
       "    var ws_proxy = comm_websocket_adapter(comm)\n",
       "\n",
       "    function ondownload(figure, format) {\n",
       "        window.open(figure.imageObj.src);\n",
       "    }\n",
       "\n",
       "    var fig = new mpl.figure(id, ws_proxy,\n",
       "                           ondownload,\n",
       "                           element.get(0));\n",
       "\n",
       "    // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
       "    // web socket which is closed, not our websocket->open comm proxy.\n",
       "    ws_proxy.onopen();\n",
       "\n",
       "    fig.parent_element = element.get(0);\n",
       "    fig.cell_info = mpl.find_output_cell(\"<div id='\" + id + \"'></div>\");\n",
       "    if (!fig.cell_info) {\n",
       "        console.error(\"Failed to find cell for figure\", id, fig);\n",
       "        return;\n",
       "    }\n",
       "\n",
       "    var output_index = fig.cell_info[2]\n",
       "    var cell = fig.cell_info[0];\n",
       "\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
       "    var width = fig.canvas.width/mpl.ratio\n",
       "    fig.root.unbind('remove')\n",
       "\n",
       "    // Update the output cell to use the data from the current canvas.\n",
       "    fig.push_to_output();\n",
       "    var dataURL = fig.canvas.toDataURL();\n",
       "    // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
       "    // the notebook keyboard shortcuts fail.\n",
       "    IPython.keyboard_manager.enable()\n",
       "    $(fig.parent_element).html('<img src=\"' + dataURL + '\" width=\"' + width + '\">');\n",
       "    fig.close_ws(fig, msg);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.close_ws = function(fig, msg){\n",
       "    fig.send_message('closing', msg);\n",
       "    // fig.ws.close()\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
       "    // Turn the data on the canvas into data in the output cell.\n",
       "    var width = this.canvas.width/mpl.ratio\n",
       "    var dataURL = this.canvas.toDataURL();\n",
       "    this.cell_info[1]['text/html'] = '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Tell IPython that the notebook contents must change.\n",
       "    IPython.notebook.set_dirty(true);\n",
       "    this.send_message(\"ack\", {});\n",
       "    var fig = this;\n",
       "    // Wait a second, then push the new image to the DOM so\n",
       "    // that it is saved nicely (might be nice to debounce this).\n",
       "    setTimeout(function () { fig.push_to_output() }, 1000);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items){\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) { continue; };\n",
       "\n",
       "        var button = $('<button class=\"btn btn-default\" href=\"#\" title=\"' + name + '\"><i class=\"fa ' + image + ' fa-lg\"></i></button>');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    // Add the status bar.\n",
       "    var status_bar = $('<span class=\"mpl-message\" style=\"text-align:right; float: right;\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "\n",
       "    // Add the close button to the window.\n",
       "    var buttongrp = $('<div class=\"btn-group inline pull-right\"></div>');\n",
       "    var button = $('<button class=\"btn btn-mini btn-primary\" href=\"#\" title=\"Stop Interaction\"><i class=\"fa fa-power-off icon-remove icon-large\"></i></button>');\n",
       "    button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
       "    button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
       "    buttongrp.append(button);\n",
       "    var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
       "    titlebar.prepend(buttongrp);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(el){\n",
       "    var fig = this\n",
       "    el.on(\"remove\", function(){\n",
       "\tfig.close_ws(fig, {});\n",
       "    });\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(el){\n",
       "    // this is important to make the div 'focusable\n",
       "    el.attr('tabindex', 0)\n",
       "    // reach out to IPython and tell the keyboard manager to turn it's self\n",
       "    // off when our div gets focus\n",
       "\n",
       "    // location in version 3\n",
       "    if (IPython.notebook.keyboard_manager) {\n",
       "        IPython.notebook.keyboard_manager.register_events(el);\n",
       "    }\n",
       "    else {\n",
       "        // location in version 2\n",
       "        IPython.keyboard_manager.register_events(el);\n",
       "    }\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    var manager = IPython.notebook.keyboard_manager;\n",
       "    if (!manager)\n",
       "        manager = IPython.keyboard_manager;\n",
       "\n",
       "    // Check for shift+enter\n",
       "    if (event.shiftKey && event.which == 13) {\n",
       "        this.canvas_div.blur();\n",
       "        event.shiftKey = false;\n",
       "        // Send a \"J\" for go to next cell\n",
       "        event.which = 74;\n",
       "        event.keyCode = 74;\n",
       "        manager.command_mode();\n",
       "        manager.handle_keydown(event);\n",
       "    }\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    fig.ondownload(fig, null);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.find_output_cell = function(html_output) {\n",
       "    // Return the cell and output element which can be found *uniquely* in the notebook.\n",
       "    // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
       "    // IPython event is triggered only after the cells have been serialised, which for\n",
       "    // our purposes (turning an active figure into a static one), is too late.\n",
       "    var cells = IPython.notebook.get_cells();\n",
       "    var ncells = cells.length;\n",
       "    for (var i=0; i<ncells; i++) {\n",
       "        var cell = cells[i];\n",
       "        if (cell.cell_type === 'code'){\n",
       "            for (var j=0; j<cell.output_area.outputs.length; j++) {\n",
       "                var data = cell.output_area.outputs[j];\n",
       "                if (data.data) {\n",
       "                    // IPython >= 3 moved mimebundle to data attribute of output\n",
       "                    data = data.data;\n",
       "                }\n",
       "                if (data['text/html'] == html_output) {\n",
       "                    return [cell, data, j];\n",
       "                }\n",
       "            }\n",
       "        }\n",
       "    }\n",
       "}\n",
       "\n",
       "// Register the function which deals with the matplotlib target/channel.\n",
       "// The kernel may be null if the page has been refreshed.\n",
       "if (IPython.notebook.kernel != null) {\n",
       "    IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
       "}\n"
      ],
      "text/plain": [
       "<IPython.core.display.Javascript object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
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\" width=\"1000\">"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "np.random.seed(123) # For reproducibility\n",
    "\n",
    "env = Grid_World()          # Create an instance of the environment\n",
    "\n",
    "num_actions = env.num_actions           # Number of actions\n",
    "Q_table = np.zeros((8, 8, num_actions)) # Initial Q-table\n",
    "\n",
    "num_episodes = 500                      # Number of training episodes\n",
    "num_steps = 300                         # Number of steps per episode\n",
    "epsilon = 1.0                           # Initial exploration probability\n",
    "alpha = 0.5                             # Learning rate\n",
    "gamma = 0.99                            # Discount factor\n",
    "\n",
    "total_steps_log = []            # Empty list to log number of steps per episode \n",
    "epsilon_log = []                # Empty list to log exploration probabilities\n",
    "\n",
    "for e in range(num_episodes):           # Loop over episodes\n",
    "    state = env.reset()                 # Reset environment\n",
    "        \n",
    "    for s in range(num_steps):                          # Loop over steps\n",
    "        if(np.random.random() <= epsilon):              # espilon-greedy policy\n",
    "            action = np.random.randint(num_actions)\n",
    "        else:\n",
    "            action = np.argmax(Q_table[state[0], state[1], :])\n",
    "        \n",
    "        next_state, reward, done = env.step(action)     # Execute selected action\n",
    "\n",
    "        # Q-table update\n",
    "        target = reward + gamma * np.max(Q_table[next_state[0], next_state[1], :])        \n",
    "        Q_table[state[0], state[1], action] += alpha * (target - Q_table[state[0], state[1], action])\n",
    "        \n",
    "        if(done):   # End episode at terminal state    \n",
    "            break\n",
    "            \n",
    "        state = next_state.copy() # Update current state\n",
    "        \n",
    "    total_steps_log.append(s)     # Append total number of steps\n",
    "    epsilon_log.append(epsilon)   # Append exploration probability \n",
    "    epsilon = 0.98 * epsilon      # Exploration decay\n",
    "    \n",
    "    \n",
    "plt.figure(figsize=(10, 4))\n",
    "plt.subplot(121)\n",
    "plt.plot(total_steps_log)\n",
    "plt.xlabel('Episode')\n",
    "plt.ylabel('Total number of steps')\n",
    "\n",
    "plt.subplot(122)\n",
    "plt.plot(epsilon_log)\n",
    "plt.xlabel('Episode')\n",
    "plt.ylabel('Exploration probability');"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Testing the trained agent"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/javascript": [
       "/* Put everything inside the global mpl namespace */\n",
       "window.mpl = {};\n",
       "\n",
       "\n",
       "mpl.get_websocket_type = function() {\n",
       "    if (typeof(WebSocket) !== 'undefined') {\n",
       "        return WebSocket;\n",
       "    } else if (typeof(MozWebSocket) !== 'undefined') {\n",
       "        return MozWebSocket;\n",
       "    } else {\n",
       "        alert('Your browser does not have WebSocket support. ' +\n",
       "              'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
       "              'Firefox 4 and 5 are also supported but you ' +\n",
       "              'have to enable WebSockets in about:config.');\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
       "    this.id = figure_id;\n",
       "\n",
       "    this.ws = websocket;\n",
       "\n",
       "    this.supports_binary = (this.ws.binaryType != undefined);\n",
       "\n",
       "    if (!this.supports_binary) {\n",
       "        var warnings = document.getElementById(\"mpl-warnings\");\n",
       "        if (warnings) {\n",
       "            warnings.style.display = 'block';\n",
       "            warnings.textContent = (\n",
       "                \"This browser does not support binary websocket messages. \" +\n",
       "                    \"Performance may be slow.\");\n",
       "        }\n",
       "    }\n",
       "\n",
       "    this.imageObj = new Image();\n",
       "\n",
       "    this.context = undefined;\n",
       "    this.message = undefined;\n",
       "    this.canvas = undefined;\n",
       "    this.rubberband_canvas = undefined;\n",
       "    this.rubberband_context = undefined;\n",
       "    this.format_dropdown = undefined;\n",
       "\n",
       "    this.image_mode = 'full';\n",
       "\n",
       "    this.root = $('<div/>');\n",
       "    this._root_extra_style(this.root)\n",
       "    this.root.attr('style', 'display: inline-block');\n",
       "\n",
       "    $(parent_element).append(this.root);\n",
       "\n",
       "    this._init_header(this);\n",
       "    this._init_canvas(this);\n",
       "    this._init_toolbar(this);\n",
       "\n",
       "    var fig = this;\n",
       "\n",
       "    this.waiting = false;\n",
       "\n",
       "    this.ws.onopen =  function () {\n",
       "            fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
       "            fig.send_message(\"send_image_mode\", {});\n",
       "            if (mpl.ratio != 1) {\n",
       "                fig.send_message(\"set_dpi_ratio\", {'dpi_ratio': mpl.ratio});\n",
       "            }\n",
       "            fig.send_message(\"refresh\", {});\n",
       "        }\n",
       "\n",
       "    this.imageObj.onload = function() {\n",
       "            if (fig.image_mode == 'full') {\n",
       "                // Full images could contain transparency (where diff images\n",
       "                // almost always do), so we need to clear the canvas so that\n",
       "                // there is no ghosting.\n",
       "                fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
       "            }\n",
       "            fig.context.drawImage(fig.imageObj, 0, 0);\n",
       "        };\n",
       "\n",
       "    this.imageObj.onunload = function() {\n",
       "        fig.ws.close();\n",
       "    }\n",
       "\n",
       "    this.ws.onmessage = this._make_on_message_function(this);\n",
       "\n",
       "    this.ondownload = ondownload;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_header = function() {\n",
       "    var titlebar = $(\n",
       "        '<div class=\"ui-dialog-titlebar ui-widget-header ui-corner-all ' +\n",
       "        'ui-helper-clearfix\"/>');\n",
       "    var titletext = $(\n",
       "        '<div class=\"ui-dialog-title\" style=\"width: 100%; ' +\n",
       "        'text-align: center; padding: 3px;\"/>');\n",
       "    titlebar.append(titletext)\n",
       "    this.root.append(titlebar);\n",
       "    this.header = titletext[0];\n",
       "}\n",
       "\n",
       "\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_canvas = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var canvas_div = $('<div/>');\n",
       "\n",
       "    canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
       "\n",
       "    function canvas_keyboard_event(event) {\n",
       "        return fig.key_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    canvas_div.keydown('key_press', canvas_keyboard_event);\n",
       "    canvas_div.keyup('key_release', canvas_keyboard_event);\n",
       "    this.canvas_div = canvas_div\n",
       "    this._canvas_extra_style(canvas_div)\n",
       "    this.root.append(canvas_div);\n",
       "\n",
       "    var canvas = $('<canvas/>');\n",
       "    canvas.addClass('mpl-canvas');\n",
       "    canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
       "\n",
       "    this.canvas = canvas[0];\n",
       "    this.context = canvas[0].getContext(\"2d\");\n",
       "\n",
       "    var backingStore = this.context.backingStorePixelRatio ||\n",
       "\tthis.context.webkitBackingStorePixelRatio ||\n",
       "\tthis.context.mozBackingStorePixelRatio ||\n",
       "\tthis.context.msBackingStorePixelRatio ||\n",
       "\tthis.context.oBackingStorePixelRatio ||\n",
       "\tthis.context.backingStorePixelRatio || 1;\n",
       "\n",
       "    mpl.ratio = (window.devicePixelRatio || 1) / backingStore;\n",
       "\n",
       "    var rubberband = $('<canvas/>');\n",
       "    rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
       "\n",
       "    var pass_mouse_events = true;\n",
       "\n",
       "    canvas_div.resizable({\n",
       "        start: function(event, ui) {\n",
       "            pass_mouse_events = false;\n",
       "        },\n",
       "        resize: function(event, ui) {\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "        stop: function(event, ui) {\n",
       "            pass_mouse_events = true;\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "    });\n",
       "\n",
       "    function mouse_event_fn(event) {\n",
       "        if (pass_mouse_events)\n",
       "            return fig.mouse_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    rubberband.mousedown('button_press', mouse_event_fn);\n",
       "    rubberband.mouseup('button_release', mouse_event_fn);\n",
       "    // Throttle sequential mouse events to 1 every 20ms.\n",
       "    rubberband.mousemove('motion_notify', mouse_event_fn);\n",
       "\n",
       "    rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
       "    rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
       "\n",
       "    canvas_div.on(\"wheel\", function (event) {\n",
       "        event = event.originalEvent;\n",
       "        event['data'] = 'scroll'\n",
       "        if (event.deltaY < 0) {\n",
       "            event.step = 1;\n",
       "        } else {\n",
       "            event.step = -1;\n",
       "        }\n",
       "        mouse_event_fn(event);\n",
       "    });\n",
       "\n",
       "    canvas_div.append(canvas);\n",
       "    canvas_div.append(rubberband);\n",
       "\n",
       "    this.rubberband = rubberband;\n",
       "    this.rubberband_canvas = rubberband[0];\n",
       "    this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
       "    this.rubberband_context.strokeStyle = \"#000000\";\n",
       "\n",
       "    this._resize_canvas = function(width, height) {\n",
       "        // Keep the size of the canvas, canvas container, and rubber band\n",
       "        // canvas in synch.\n",
       "        canvas_div.css('width', width)\n",
       "        canvas_div.css('height', height)\n",
       "\n",
       "        canvas.attr('width', width * mpl.ratio);\n",
       "        canvas.attr('height', height * mpl.ratio);\n",
       "        canvas.attr('style', 'width: ' + width + 'px; height: ' + height + 'px;');\n",
       "\n",
       "        rubberband.attr('width', width);\n",
       "        rubberband.attr('height', height);\n",
       "    }\n",
       "\n",
       "    // Set the figure to an initial 600x600px, this will subsequently be updated\n",
       "    // upon first draw.\n",
       "    this._resize_canvas(600, 600);\n",
       "\n",
       "    // Disable right mouse context menu.\n",
       "    $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
       "        return false;\n",
       "    });\n",
       "\n",
       "    function set_focus () {\n",
       "        canvas.focus();\n",
       "        canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    window.setTimeout(set_focus, 100);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items) {\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) {\n",
       "            // put a spacer in here.\n",
       "            continue;\n",
       "        }\n",
       "        var button = $('<button/>');\n",
       "        button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
       "                        'ui-button-icon-only');\n",
       "        button.attr('role', 'button');\n",
       "        button.attr('aria-disabled', 'false');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "\n",
       "        var icon_img = $('<span/>');\n",
       "        icon_img.addClass('ui-button-icon-primary ui-icon');\n",
       "        icon_img.addClass(image);\n",
       "        icon_img.addClass('ui-corner-all');\n",
       "\n",
       "        var tooltip_span = $('<span/>');\n",
       "        tooltip_span.addClass('ui-button-text');\n",
       "        tooltip_span.html(tooltip);\n",
       "\n",
       "        button.append(icon_img);\n",
       "        button.append(tooltip_span);\n",
       "\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    var fmt_picker_span = $('<span/>');\n",
       "\n",
       "    var fmt_picker = $('<select/>');\n",
       "    fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
       "    fmt_picker_span.append(fmt_picker);\n",
       "    nav_element.append(fmt_picker_span);\n",
       "    this.format_dropdown = fmt_picker[0];\n",
       "\n",
       "    for (var ind in mpl.extensions) {\n",
       "        var fmt = mpl.extensions[ind];\n",
       "        var option = $(\n",
       "            '<option/>', {selected: fmt === mpl.default_extension}).html(fmt);\n",
       "        fmt_picker.append(option);\n",
       "    }\n",
       "\n",
       "    // Add hover states to the ui-buttons\n",
       "    $( \".ui-button\" ).hover(\n",
       "        function() { $(this).addClass(\"ui-state-hover\");},\n",
       "        function() { $(this).removeClass(\"ui-state-hover\");}\n",
       "    );\n",
       "\n",
       "    var status_bar = $('<span class=\"mpl-message\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
       "    // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
       "    // which will in turn request a refresh of the image.\n",
       "    this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_message = function(type, properties) {\n",
       "    properties['type'] = type;\n",
       "    properties['figure_id'] = this.id;\n",
       "    this.ws.send(JSON.stringify(properties));\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_draw_message = function() {\n",
       "    if (!this.waiting) {\n",
       "        this.waiting = true;\n",
       "        this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
       "    }\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    var format_dropdown = fig.format_dropdown;\n",
       "    var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
       "    fig.ondownload(fig, format);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
       "    var size = msg['size'];\n",
       "    if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
       "        fig._resize_canvas(size[0], size[1]);\n",
       "        fig.send_message(\"refresh\", {});\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
       "    var x0 = msg['x0'] / mpl.ratio;\n",
       "    var y0 = (fig.canvas.height - msg['y0']) / mpl.ratio;\n",
       "    var x1 = msg['x1'] / mpl.ratio;\n",
       "    var y1 = (fig.canvas.height - msg['y1']) / mpl.ratio;\n",
       "    x0 = Math.floor(x0) + 0.5;\n",
       "    y0 = Math.floor(y0) + 0.5;\n",
       "    x1 = Math.floor(x1) + 0.5;\n",
       "    y1 = Math.floor(y1) + 0.5;\n",
       "    var min_x = Math.min(x0, x1);\n",
       "    var min_y = Math.min(y0, y1);\n",
       "    var width = Math.abs(x1 - x0);\n",
       "    var height = Math.abs(y1 - y0);\n",
       "\n",
       "    fig.rubberband_context.clearRect(\n",
       "        0, 0, fig.canvas.width / mpl.ratio, fig.canvas.height / mpl.ratio);\n",
       "\n",
       "    fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
       "    // Updates the figure title.\n",
       "    fig.header.textContent = msg['label'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
       "    var cursor = msg['cursor'];\n",
       "    switch(cursor)\n",
       "    {\n",
       "    case 0:\n",
       "        cursor = 'pointer';\n",
       "        break;\n",
       "    case 1:\n",
       "        cursor = 'default';\n",
       "        break;\n",
       "    case 2:\n",
       "        cursor = 'crosshair';\n",
       "        break;\n",
       "    case 3:\n",
       "        cursor = 'move';\n",
       "        break;\n",
       "    }\n",
       "    fig.rubberband_canvas.style.cursor = cursor;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
       "    fig.message.textContent = msg['message'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
       "    // Request the server to send over a new figure.\n",
       "    fig.send_draw_message();\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
       "    fig.image_mode = msg['mode'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Called whenever the canvas gets updated.\n",
       "    this.send_message(\"ack\", {});\n",
       "}\n",
       "\n",
       "// A function to construct a web socket function for onmessage handling.\n",
       "// Called in the figure constructor.\n",
       "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
       "    return function socket_on_message(evt) {\n",
       "        if (evt.data instanceof Blob) {\n",
       "            /* FIXME: We get \"Resource interpreted as Image but\n",
       "             * transferred with MIME type text/plain:\" errors on\n",
       "             * Chrome.  But how to set the MIME type?  It doesn't seem\n",
       "             * to be part of the websocket stream */\n",
       "            evt.data.type = \"image/png\";\n",
       "\n",
       "            /* Free the memory for the previous frames */\n",
       "            if (fig.imageObj.src) {\n",
       "                (window.URL || window.webkitURL).revokeObjectURL(\n",
       "                    fig.imageObj.src);\n",
       "            }\n",
       "\n",
       "            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
       "                evt.data);\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "        else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
       "            fig.imageObj.src = evt.data;\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        var msg = JSON.parse(evt.data);\n",
       "        var msg_type = msg['type'];\n",
       "\n",
       "        // Call the  \"handle_{type}\" callback, which takes\n",
       "        // the figure and JSON message as its only arguments.\n",
       "        try {\n",
       "            var callback = fig[\"handle_\" + msg_type];\n",
       "        } catch (e) {\n",
       "            console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        if (callback) {\n",
       "            try {\n",
       "                // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
       "                callback(fig, msg);\n",
       "            } catch (e) {\n",
       "                console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
       "            }\n",
       "        }\n",
       "    };\n",
       "}\n",
       "\n",
       "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
       "mpl.findpos = function(e) {\n",
       "    //this section is from http://www.quirksmode.org/js/events_properties.html\n",
       "    var targ;\n",
       "    if (!e)\n",
       "        e = window.event;\n",
       "    if (e.target)\n",
       "        targ = e.target;\n",
       "    else if (e.srcElement)\n",
       "        targ = e.srcElement;\n",
       "    if (targ.nodeType == 3) // defeat Safari bug\n",
       "        targ = targ.parentNode;\n",
       "\n",
       "    // jQuery normalizes the pageX and pageY\n",
       "    // pageX,Y are the mouse positions relative to the document\n",
       "    // offset() returns the position of the element relative to the document\n",
       "    var x = e.pageX - $(targ).offset().left;\n",
       "    var y = e.pageY - $(targ).offset().top;\n",
       "\n",
       "    return {\"x\": x, \"y\": y};\n",
       "};\n",
       "\n",
       "/*\n",
       " * return a copy of an object with only non-object keys\n",
       " * we need this to avoid circular references\n",
       " * http://stackoverflow.com/a/24161582/3208463\n",
       " */\n",
       "function simpleKeys (original) {\n",
       "  return Object.keys(original).reduce(function (obj, key) {\n",
       "    if (typeof original[key] !== 'object')\n",
       "        obj[key] = original[key]\n",
       "    return obj;\n",
       "  }, {});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.mouse_event = function(event, name) {\n",
       "    var canvas_pos = mpl.findpos(event)\n",
       "\n",
       "    if (name === 'button_press')\n",
       "    {\n",
       "        this.canvas.focus();\n",
       "        this.canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    var x = canvas_pos.x * mpl.ratio;\n",
       "    var y = canvas_pos.y * mpl.ratio;\n",
       "\n",
       "    this.send_message(name, {x: x, y: y, button: event.button,\n",
       "                             step: event.step,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "\n",
       "    /* This prevents the web browser from automatically changing to\n",
       "     * the text insertion cursor when the button is pressed.  We want\n",
       "     * to control all of the cursor setting manually through the\n",
       "     * 'cursor' event from matplotlib */\n",
       "    event.preventDefault();\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    // Handle any extra behaviour associated with a key event\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.key_event = function(event, name) {\n",
       "\n",
       "    // Prevent repeat events\n",
       "    if (name == 'key_press')\n",
       "    {\n",
       "        if (event.which === this._key)\n",
       "            return;\n",
       "        else\n",
       "            this._key = event.which;\n",
       "    }\n",
       "    if (name == 'key_release')\n",
       "        this._key = null;\n",
       "\n",
       "    var value = '';\n",
       "    if (event.ctrlKey && event.which != 17)\n",
       "        value += \"ctrl+\";\n",
       "    if (event.altKey && event.which != 18)\n",
       "        value += \"alt+\";\n",
       "    if (event.shiftKey && event.which != 16)\n",
       "        value += \"shift+\";\n",
       "\n",
       "    value += 'k';\n",
       "    value += event.which.toString();\n",
       "\n",
       "    this._key_event_extra(event, name);\n",
       "\n",
       "    this.send_message(name, {key: value,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
       "    if (name == 'download') {\n",
       "        this.handle_save(this, null);\n",
       "    } else {\n",
       "        this.send_message(\"toolbar_button\", {name: name});\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
       "    this.message.textContent = tooltip;\n",
       "};\n",
       "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
       "\n",
       "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
       "\n",
       "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
       "    // Create a \"websocket\"-like object which calls the given IPython comm\n",
       "    // object with the appropriate methods. Currently this is a non binary\n",
       "    // socket, so there is still some room for performance tuning.\n",
       "    var ws = {};\n",
       "\n",
       "    ws.close = function() {\n",
       "        comm.close()\n",
       "    };\n",
       "    ws.send = function(m) {\n",
       "        //console.log('sending', m);\n",
       "        comm.send(m);\n",
       "    };\n",
       "    // Register the callback with on_msg.\n",
       "    comm.on_msg(function(msg) {\n",
       "        //console.log('receiving', msg['content']['data'], msg);\n",
       "        // Pass the mpl event to the overridden (by mpl) onmessage function.\n",
       "        ws.onmessage(msg['content']['data'])\n",
       "    });\n",
       "    return ws;\n",
       "}\n",
       "\n",
       "mpl.mpl_figure_comm = function(comm, msg) {\n",
       "    // This is the function which gets called when the mpl process\n",
       "    // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
       "\n",
       "    var id = msg.content.data.id;\n",
       "    // Get hold of the div created by the display call when the Comm\n",
       "    // socket was opened in Python.\n",
       "    var element = $(\"#\" + id);\n",
       "    var ws_proxy = comm_websocket_adapter(comm)\n",
       "\n",
       "    function ondownload(figure, format) {\n",
       "        window.open(figure.imageObj.src);\n",
       "    }\n",
       "\n",
       "    var fig = new mpl.figure(id, ws_proxy,\n",
       "                           ondownload,\n",
       "                           element.get(0));\n",
       "\n",
       "    // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
       "    // web socket which is closed, not our websocket->open comm proxy.\n",
       "    ws_proxy.onopen();\n",
       "\n",
       "    fig.parent_element = element.get(0);\n",
       "    fig.cell_info = mpl.find_output_cell(\"<div id='\" + id + \"'></div>\");\n",
       "    if (!fig.cell_info) {\n",
       "        console.error(\"Failed to find cell for figure\", id, fig);\n",
       "        return;\n",
       "    }\n",
       "\n",
       "    var output_index = fig.cell_info[2]\n",
       "    var cell = fig.cell_info[0];\n",
       "\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
       "    var width = fig.canvas.width/mpl.ratio\n",
       "    fig.root.unbind('remove')\n",
       "\n",
       "    // Update the output cell to use the data from the current canvas.\n",
       "    fig.push_to_output();\n",
       "    var dataURL = fig.canvas.toDataURL();\n",
       "    // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
       "    // the notebook keyboard shortcuts fail.\n",
       "    IPython.keyboard_manager.enable()\n",
       "    $(fig.parent_element).html('<img src=\"' + dataURL + '\" width=\"' + width + '\">');\n",
       "    fig.close_ws(fig, msg);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.close_ws = function(fig, msg){\n",
       "    fig.send_message('closing', msg);\n",
       "    // fig.ws.close()\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
       "    // Turn the data on the canvas into data in the output cell.\n",
       "    var width = this.canvas.width/mpl.ratio\n",
       "    var dataURL = this.canvas.toDataURL();\n",
       "    this.cell_info[1]['text/html'] = '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Tell IPython that the notebook contents must change.\n",
       "    IPython.notebook.set_dirty(true);\n",
       "    this.send_message(\"ack\", {});\n",
       "    var fig = this;\n",
       "    // Wait a second, then push the new image to the DOM so\n",
       "    // that it is saved nicely (might be nice to debounce this).\n",
       "    setTimeout(function () { fig.push_to_output() }, 1000);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items){\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) { continue; };\n",
       "\n",
       "        var button = $('<button class=\"btn btn-default\" href=\"#\" title=\"' + name + '\"><i class=\"fa ' + image + ' fa-lg\"></i></button>');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    // Add the status bar.\n",
       "    var status_bar = $('<span class=\"mpl-message\" style=\"text-align:right; float: right;\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "\n",
       "    // Add the close button to the window.\n",
       "    var buttongrp = $('<div class=\"btn-group inline pull-right\"></div>');\n",
       "    var button = $('<button class=\"btn btn-mini btn-primary\" href=\"#\" title=\"Stop Interaction\"><i class=\"fa fa-power-off icon-remove icon-large\"></i></button>');\n",
       "    button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
       "    button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
       "    buttongrp.append(button);\n",
       "    var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
       "    titlebar.prepend(buttongrp);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(el){\n",
       "    var fig = this\n",
       "    el.on(\"remove\", function(){\n",
       "\tfig.close_ws(fig, {});\n",
       "    });\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(el){\n",
       "    // this is important to make the div 'focusable\n",
       "    el.attr('tabindex', 0)\n",
       "    // reach out to IPython and tell the keyboard manager to turn it's self\n",
       "    // off when our div gets focus\n",
       "\n",
       "    // location in version 3\n",
       "    if (IPython.notebook.keyboard_manager) {\n",
       "        IPython.notebook.keyboard_manager.register_events(el);\n",
       "    }\n",
       "    else {\n",
       "        // location in version 2\n",
       "        IPython.keyboard_manager.register_events(el);\n",
       "    }\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    var manager = IPython.notebook.keyboard_manager;\n",
       "    if (!manager)\n",
       "        manager = IPython.keyboard_manager;\n",
       "\n",
       "    // Check for shift+enter\n",
       "    if (event.shiftKey && event.which == 13) {\n",
       "        this.canvas_div.blur();\n",
       "        event.shiftKey = false;\n",
       "        // Send a \"J\" for go to next cell\n",
       "        event.which = 74;\n",
       "        event.keyCode = 74;\n",
       "        manager.command_mode();\n",
       "        manager.handle_keydown(event);\n",
       "    }\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    fig.ondownload(fig, null);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.find_output_cell = function(html_output) {\n",
       "    // Return the cell and output element which can be found *uniquely* in the notebook.\n",
       "    // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
       "    // IPython event is triggered only after the cells have been serialised, which for\n",
       "    // our purposes (turning an active figure into a static one), is too late.\n",
       "    var cells = IPython.notebook.get_cells();\n",
       "    var ncells = cells.length;\n",
       "    for (var i=0; i<ncells; i++) {\n",
       "        var cell = cells[i];\n",
       "        if (cell.cell_type === 'code'){\n",
       "            for (var j=0; j<cell.output_area.outputs.length; j++) {\n",
       "                var data = cell.output_area.outputs[j];\n",
       "                if (data.data) {\n",
       "                    // IPython >= 3 moved mimebundle to data attribute of output\n",
       "                    data = data.data;\n",
       "                }\n",
       "                if (data['text/html'] == html_output) {\n",
       "                    return [cell, data, j];\n",
       "                }\n",
       "            }\n",
       "        }\n",
       "    }\n",
       "}\n",
       "\n",
       "// Register the function which deals with the matplotlib target/channel.\n",
       "// The kernel may be null if the page has been refreshed.\n",
       "if (IPython.notebook.kernel != null) {\n",
       "    IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
       "}\n"
      ],
      "text/plain": [
       "<IPython.core.display.Javascript object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
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      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "env = Grid_World()          # Create an instance of the environment\n",
    "for e in range(20):         # Loop over testing episodes\n",
    "    state = env.reset()     # Reset environment\n",
    "    for s in range(50):     # Loop over steps\n",
    "        action = np.argmax(Q_table[state[0], state[1], :]) # greedy policy\n",
    "        state, _, done = env.step(action)                  # Execute selected action\n",
    "        env.render()                                       # Render environment\n",
    "        if done:                                           # End episode at terminal state\n",
    "            break"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Visualizing the learned policy"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "application/javascript": [
       "/* Put everything inside the global mpl namespace */\n",
       "window.mpl = {};\n",
       "\n",
       "\n",
       "mpl.get_websocket_type = function() {\n",
       "    if (typeof(WebSocket) !== 'undefined') {\n",
       "        return WebSocket;\n",
       "    } else if (typeof(MozWebSocket) !== 'undefined') {\n",
       "        return MozWebSocket;\n",
       "    } else {\n",
       "        alert('Your browser does not have WebSocket support. ' +\n",
       "              'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
       "              'Firefox 4 and 5 are also supported but you ' +\n",
       "              'have to enable WebSockets in about:config.');\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
       "    this.id = figure_id;\n",
       "\n",
       "    this.ws = websocket;\n",
       "\n",
       "    this.supports_binary = (this.ws.binaryType != undefined);\n",
       "\n",
       "    if (!this.supports_binary) {\n",
       "        var warnings = document.getElementById(\"mpl-warnings\");\n",
       "        if (warnings) {\n",
       "            warnings.style.display = 'block';\n",
       "            warnings.textContent = (\n",
       "                \"This browser does not support binary websocket messages. \" +\n",
       "                    \"Performance may be slow.\");\n",
       "        }\n",
       "    }\n",
       "\n",
       "    this.imageObj = new Image();\n",
       "\n",
       "    this.context = undefined;\n",
       "    this.message = undefined;\n",
       "    this.canvas = undefined;\n",
       "    this.rubberband_canvas = undefined;\n",
       "    this.rubberband_context = undefined;\n",
       "    this.format_dropdown = undefined;\n",
       "\n",
       "    this.image_mode = 'full';\n",
       "\n",
       "    this.root = $('<div/>');\n",
       "    this._root_extra_style(this.root)\n",
       "    this.root.attr('style', 'display: inline-block');\n",
       "\n",
       "    $(parent_element).append(this.root);\n",
       "\n",
       "    this._init_header(this);\n",
       "    this._init_canvas(this);\n",
       "    this._init_toolbar(this);\n",
       "\n",
       "    var fig = this;\n",
       "\n",
       "    this.waiting = false;\n",
       "\n",
       "    this.ws.onopen =  function () {\n",
       "            fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
       "            fig.send_message(\"send_image_mode\", {});\n",
       "            if (mpl.ratio != 1) {\n",
       "                fig.send_message(\"set_dpi_ratio\", {'dpi_ratio': mpl.ratio});\n",
       "            }\n",
       "            fig.send_message(\"refresh\", {});\n",
       "        }\n",
       "\n",
       "    this.imageObj.onload = function() {\n",
       "            if (fig.image_mode == 'full') {\n",
       "                // Full images could contain transparency (where diff images\n",
       "                // almost always do), so we need to clear the canvas so that\n",
       "                // there is no ghosting.\n",
       "                fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
       "            }\n",
       "            fig.context.drawImage(fig.imageObj, 0, 0);\n",
       "        };\n",
       "\n",
       "    this.imageObj.onunload = function() {\n",
       "        fig.ws.close();\n",
       "    }\n",
       "\n",
       "    this.ws.onmessage = this._make_on_message_function(this);\n",
       "\n",
       "    this.ondownload = ondownload;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_header = function() {\n",
       "    var titlebar = $(\n",
       "        '<div class=\"ui-dialog-titlebar ui-widget-header ui-corner-all ' +\n",
       "        'ui-helper-clearfix\"/>');\n",
       "    var titletext = $(\n",
       "        '<div class=\"ui-dialog-title\" style=\"width: 100%; ' +\n",
       "        'text-align: center; padding: 3px;\"/>');\n",
       "    titlebar.append(titletext)\n",
       "    this.root.append(titlebar);\n",
       "    this.header = titletext[0];\n",
       "}\n",
       "\n",
       "\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_canvas = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var canvas_div = $('<div/>');\n",
       "\n",
       "    canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
       "\n",
       "    function canvas_keyboard_event(event) {\n",
       "        return fig.key_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    canvas_div.keydown('key_press', canvas_keyboard_event);\n",
       "    canvas_div.keyup('key_release', canvas_keyboard_event);\n",
       "    this.canvas_div = canvas_div\n",
       "    this._canvas_extra_style(canvas_div)\n",
       "    this.root.append(canvas_div);\n",
       "\n",
       "    var canvas = $('<canvas/>');\n",
       "    canvas.addClass('mpl-canvas');\n",
       "    canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
       "\n",
       "    this.canvas = canvas[0];\n",
       "    this.context = canvas[0].getContext(\"2d\");\n",
       "\n",
       "    var backingStore = this.context.backingStorePixelRatio ||\n",
       "\tthis.context.webkitBackingStorePixelRatio ||\n",
       "\tthis.context.mozBackingStorePixelRatio ||\n",
       "\tthis.context.msBackingStorePixelRatio ||\n",
       "\tthis.context.oBackingStorePixelRatio ||\n",
       "\tthis.context.backingStorePixelRatio || 1;\n",
       "\n",
       "    mpl.ratio = (window.devicePixelRatio || 1) / backingStore;\n",
       "\n",
       "    var rubberband = $('<canvas/>');\n",
       "    rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
       "\n",
       "    var pass_mouse_events = true;\n",
       "\n",
       "    canvas_div.resizable({\n",
       "        start: function(event, ui) {\n",
       "            pass_mouse_events = false;\n",
       "        },\n",
       "        resize: function(event, ui) {\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "        stop: function(event, ui) {\n",
       "            pass_mouse_events = true;\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "    });\n",
       "\n",
       "    function mouse_event_fn(event) {\n",
       "        if (pass_mouse_events)\n",
       "            return fig.mouse_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    rubberband.mousedown('button_press', mouse_event_fn);\n",
       "    rubberband.mouseup('button_release', mouse_event_fn);\n",
       "    // Throttle sequential mouse events to 1 every 20ms.\n",
       "    rubberband.mousemove('motion_notify', mouse_event_fn);\n",
       "\n",
       "    rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
       "    rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
       "\n",
       "    canvas_div.on(\"wheel\", function (event) {\n",
       "        event = event.originalEvent;\n",
       "        event['data'] = 'scroll'\n",
       "        if (event.deltaY < 0) {\n",
       "            event.step = 1;\n",
       "        } else {\n",
       "            event.step = -1;\n",
       "        }\n",
       "        mouse_event_fn(event);\n",
       "    });\n",
       "\n",
       "    canvas_div.append(canvas);\n",
       "    canvas_div.append(rubberband);\n",
       "\n",
       "    this.rubberband = rubberband;\n",
       "    this.rubberband_canvas = rubberband[0];\n",
       "    this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
       "    this.rubberband_context.strokeStyle = \"#000000\";\n",
       "\n",
       "    this._resize_canvas = function(width, height) {\n",
       "        // Keep the size of the canvas, canvas container, and rubber band\n",
       "        // canvas in synch.\n",
       "        canvas_div.css('width', width)\n",
       "        canvas_div.css('height', height)\n",
       "\n",
       "        canvas.attr('width', width * mpl.ratio);\n",
       "        canvas.attr('height', height * mpl.ratio);\n",
       "        canvas.attr('style', 'width: ' + width + 'px; height: ' + height + 'px;');\n",
       "\n",
       "        rubberband.attr('width', width);\n",
       "        rubberband.attr('height', height);\n",
       "    }\n",
       "\n",
       "    // Set the figure to an initial 600x600px, this will subsequently be updated\n",
       "    // upon first draw.\n",
       "    this._resize_canvas(600, 600);\n",
       "\n",
       "    // Disable right mouse context menu.\n",
       "    $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
       "        return false;\n",
       "    });\n",
       "\n",
       "    function set_focus () {\n",
       "        canvas.focus();\n",
       "        canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    window.setTimeout(set_focus, 100);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items) {\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) {\n",
       "            // put a spacer in here.\n",
       "            continue;\n",
       "        }\n",
       "        var button = $('<button/>');\n",
       "        button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
       "                        'ui-button-icon-only');\n",
       "        button.attr('role', 'button');\n",
       "        button.attr('aria-disabled', 'false');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "\n",
       "        var icon_img = $('<span/>');\n",
       "        icon_img.addClass('ui-button-icon-primary ui-icon');\n",
       "        icon_img.addClass(image);\n",
       "        icon_img.addClass('ui-corner-all');\n",
       "\n",
       "        var tooltip_span = $('<span/>');\n",
       "        tooltip_span.addClass('ui-button-text');\n",
       "        tooltip_span.html(tooltip);\n",
       "\n",
       "        button.append(icon_img);\n",
       "        button.append(tooltip_span);\n",
       "\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    var fmt_picker_span = $('<span/>');\n",
       "\n",
       "    var fmt_picker = $('<select/>');\n",
       "    fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
       "    fmt_picker_span.append(fmt_picker);\n",
       "    nav_element.append(fmt_picker_span);\n",
       "    this.format_dropdown = fmt_picker[0];\n",
       "\n",
       "    for (var ind in mpl.extensions) {\n",
       "        var fmt = mpl.extensions[ind];\n",
       "        var option = $(\n",
       "            '<option/>', {selected: fmt === mpl.default_extension}).html(fmt);\n",
       "        fmt_picker.append(option);\n",
       "    }\n",
       "\n",
       "    // Add hover states to the ui-buttons\n",
       "    $( \".ui-button\" ).hover(\n",
       "        function() { $(this).addClass(\"ui-state-hover\");},\n",
       "        function() { $(this).removeClass(\"ui-state-hover\");}\n",
       "    );\n",
       "\n",
       "    var status_bar = $('<span class=\"mpl-message\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
       "    // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
       "    // which will in turn request a refresh of the image.\n",
       "    this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_message = function(type, properties) {\n",
       "    properties['type'] = type;\n",
       "    properties['figure_id'] = this.id;\n",
       "    this.ws.send(JSON.stringify(properties));\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_draw_message = function() {\n",
       "    if (!this.waiting) {\n",
       "        this.waiting = true;\n",
       "        this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
       "    }\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    var format_dropdown = fig.format_dropdown;\n",
       "    var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
       "    fig.ondownload(fig, format);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
       "    var size = msg['size'];\n",
       "    if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
       "        fig._resize_canvas(size[0], size[1]);\n",
       "        fig.send_message(\"refresh\", {});\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
       "    var x0 = msg['x0'] / mpl.ratio;\n",
       "    var y0 = (fig.canvas.height - msg['y0']) / mpl.ratio;\n",
       "    var x1 = msg['x1'] / mpl.ratio;\n",
       "    var y1 = (fig.canvas.height - msg['y1']) / mpl.ratio;\n",
       "    x0 = Math.floor(x0) + 0.5;\n",
       "    y0 = Math.floor(y0) + 0.5;\n",
       "    x1 = Math.floor(x1) + 0.5;\n",
       "    y1 = Math.floor(y1) + 0.5;\n",
       "    var min_x = Math.min(x0, x1);\n",
       "    var min_y = Math.min(y0, y1);\n",
       "    var width = Math.abs(x1 - x0);\n",
       "    var height = Math.abs(y1 - y0);\n",
       "\n",
       "    fig.rubberband_context.clearRect(\n",
       "        0, 0, fig.canvas.width / mpl.ratio, fig.canvas.height / mpl.ratio);\n",
       "\n",
       "    fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
       "    // Updates the figure title.\n",
       "    fig.header.textContent = msg['label'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
       "    var cursor = msg['cursor'];\n",
       "    switch(cursor)\n",
       "    {\n",
       "    case 0:\n",
       "        cursor = 'pointer';\n",
       "        break;\n",
       "    case 1:\n",
       "        cursor = 'default';\n",
       "        break;\n",
       "    case 2:\n",
       "        cursor = 'crosshair';\n",
       "        break;\n",
       "    case 3:\n",
       "        cursor = 'move';\n",
       "        break;\n",
       "    }\n",
       "    fig.rubberband_canvas.style.cursor = cursor;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
       "    fig.message.textContent = msg['message'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
       "    // Request the server to send over a new figure.\n",
       "    fig.send_draw_message();\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
       "    fig.image_mode = msg['mode'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Called whenever the canvas gets updated.\n",
       "    this.send_message(\"ack\", {});\n",
       "}\n",
       "\n",
       "// A function to construct a web socket function for onmessage handling.\n",
       "// Called in the figure constructor.\n",
       "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
       "    return function socket_on_message(evt) {\n",
       "        if (evt.data instanceof Blob) {\n",
       "            /* FIXME: We get \"Resource interpreted as Image but\n",
       "             * transferred with MIME type text/plain:\" errors on\n",
       "             * Chrome.  But how to set the MIME type?  It doesn't seem\n",
       "             * to be part of the websocket stream */\n",
       "            evt.data.type = \"image/png\";\n",
       "\n",
       "            /* Free the memory for the previous frames */\n",
       "            if (fig.imageObj.src) {\n",
       "                (window.URL || window.webkitURL).revokeObjectURL(\n",
       "                    fig.imageObj.src);\n",
       "            }\n",
       "\n",
       "            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
       "                evt.data);\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "        else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
       "            fig.imageObj.src = evt.data;\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        var msg = JSON.parse(evt.data);\n",
       "        var msg_type = msg['type'];\n",
       "\n",
       "        // Call the  \"handle_{type}\" callback, which takes\n",
       "        // the figure and JSON message as its only arguments.\n",
       "        try {\n",
       "            var callback = fig[\"handle_\" + msg_type];\n",
       "        } catch (e) {\n",
       "            console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        if (callback) {\n",
       "            try {\n",
       "                // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
       "                callback(fig, msg);\n",
       "            } catch (e) {\n",
       "                console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
       "            }\n",
       "        }\n",
       "    };\n",
       "}\n",
       "\n",
       "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
       "mpl.findpos = function(e) {\n",
       "    //this section is from http://www.quirksmode.org/js/events_properties.html\n",
       "    var targ;\n",
       "    if (!e)\n",
       "        e = window.event;\n",
       "    if (e.target)\n",
       "        targ = e.target;\n",
       "    else if (e.srcElement)\n",
       "        targ = e.srcElement;\n",
       "    if (targ.nodeType == 3) // defeat Safari bug\n",
       "        targ = targ.parentNode;\n",
       "\n",
       "    // jQuery normalizes the pageX and pageY\n",
       "    // pageX,Y are the mouse positions relative to the document\n",
       "    // offset() returns the position of the element relative to the document\n",
       "    var x = e.pageX - $(targ).offset().left;\n",
       "    var y = e.pageY - $(targ).offset().top;\n",
       "\n",
       "    return {\"x\": x, \"y\": y};\n",
       "};\n",
       "\n",
       "/*\n",
       " * return a copy of an object with only non-object keys\n",
       " * we need this to avoid circular references\n",
       " * http://stackoverflow.com/a/24161582/3208463\n",
       " */\n",
       "function simpleKeys (original) {\n",
       "  return Object.keys(original).reduce(function (obj, key) {\n",
       "    if (typeof original[key] !== 'object')\n",
       "        obj[key] = original[key]\n",
       "    return obj;\n",
       "  }, {});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.mouse_event = function(event, name) {\n",
       "    var canvas_pos = mpl.findpos(event)\n",
       "\n",
       "    if (name === 'button_press')\n",
       "    {\n",
       "        this.canvas.focus();\n",
       "        this.canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    var x = canvas_pos.x * mpl.ratio;\n",
       "    var y = canvas_pos.y * mpl.ratio;\n",
       "\n",
       "    this.send_message(name, {x: x, y: y, button: event.button,\n",
       "                             step: event.step,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "\n",
       "    /* This prevents the web browser from automatically changing to\n",
       "     * the text insertion cursor when the button is pressed.  We want\n",
       "     * to control all of the cursor setting manually through the\n",
       "     * 'cursor' event from matplotlib */\n",
       "    event.preventDefault();\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    // Handle any extra behaviour associated with a key event\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.key_event = function(event, name) {\n",
       "\n",
       "    // Prevent repeat events\n",
       "    if (name == 'key_press')\n",
       "    {\n",
       "        if (event.which === this._key)\n",
       "            return;\n",
       "        else\n",
       "            this._key = event.which;\n",
       "    }\n",
       "    if (name == 'key_release')\n",
       "        this._key = null;\n",
       "\n",
       "    var value = '';\n",
       "    if (event.ctrlKey && event.which != 17)\n",
       "        value += \"ctrl+\";\n",
       "    if (event.altKey && event.which != 18)\n",
       "        value += \"alt+\";\n",
       "    if (event.shiftKey && event.which != 16)\n",
       "        value += \"shift+\";\n",
       "\n",
       "    value += 'k';\n",
       "    value += event.which.toString();\n",
       "\n",
       "    this._key_event_extra(event, name);\n",
       "\n",
       "    this.send_message(name, {key: value,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
       "    if (name == 'download') {\n",
       "        this.handle_save(this, null);\n",
       "    } else {\n",
       "        this.send_message(\"toolbar_button\", {name: name});\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
       "    this.message.textContent = tooltip;\n",
       "};\n",
       "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
       "\n",
       "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
       "\n",
       "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
       "    // Create a \"websocket\"-like object which calls the given IPython comm\n",
       "    // object with the appropriate methods. Currently this is a non binary\n",
       "    // socket, so there is still some room for performance tuning.\n",
       "    var ws = {};\n",
       "\n",
       "    ws.close = function() {\n",
       "        comm.close()\n",
       "    };\n",
       "    ws.send = function(m) {\n",
       "        //console.log('sending', m);\n",
       "        comm.send(m);\n",
       "    };\n",
       "    // Register the callback with on_msg.\n",
       "    comm.on_msg(function(msg) {\n",
       "        //console.log('receiving', msg['content']['data'], msg);\n",
       "        // Pass the mpl event to the overridden (by mpl) onmessage function.\n",
       "        ws.onmessage(msg['content']['data'])\n",
       "    });\n",
       "    return ws;\n",
       "}\n",
       "\n",
       "mpl.mpl_figure_comm = function(comm, msg) {\n",
       "    // This is the function which gets called when the mpl process\n",
       "    // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
       "\n",
       "    var id = msg.content.data.id;\n",
       "    // Get hold of the div created by the display call when the Comm\n",
       "    // socket was opened in Python.\n",
       "    var element = $(\"#\" + id);\n",
       "    var ws_proxy = comm_websocket_adapter(comm)\n",
       "\n",
       "    function ondownload(figure, format) {\n",
       "        window.open(figure.imageObj.src);\n",
       "    }\n",
       "\n",
       "    var fig = new mpl.figure(id, ws_proxy,\n",
       "                           ondownload,\n",
       "                           element.get(0));\n",
       "\n",
       "    // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
       "    // web socket which is closed, not our websocket->open comm proxy.\n",
       "    ws_proxy.onopen();\n",
       "\n",
       "    fig.parent_element = element.get(0);\n",
       "    fig.cell_info = mpl.find_output_cell(\"<div id='\" + id + \"'></div>\");\n",
       "    if (!fig.cell_info) {\n",
       "        console.error(\"Failed to find cell for figure\", id, fig);\n",
       "        return;\n",
       "    }\n",
       "\n",
       "    var output_index = fig.cell_info[2]\n",
       "    var cell = fig.cell_info[0];\n",
       "\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
       "    var width = fig.canvas.width/mpl.ratio\n",
       "    fig.root.unbind('remove')\n",
       "\n",
       "    // Update the output cell to use the data from the current canvas.\n",
       "    fig.push_to_output();\n",
       "    var dataURL = fig.canvas.toDataURL();\n",
       "    // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
       "    // the notebook keyboard shortcuts fail.\n",
       "    IPython.keyboard_manager.enable()\n",
       "    $(fig.parent_element).html('<img src=\"' + dataURL + '\" width=\"' + width + '\">');\n",
       "    fig.close_ws(fig, msg);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.close_ws = function(fig, msg){\n",
       "    fig.send_message('closing', msg);\n",
       "    // fig.ws.close()\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
       "    // Turn the data on the canvas into data in the output cell.\n",
       "    var width = this.canvas.width/mpl.ratio\n",
       "    var dataURL = this.canvas.toDataURL();\n",
       "    this.cell_info[1]['text/html'] = '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Tell IPython that the notebook contents must change.\n",
       "    IPython.notebook.set_dirty(true);\n",
       "    this.send_message(\"ack\", {});\n",
       "    var fig = this;\n",
       "    // Wait a second, then push the new image to the DOM so\n",
       "    // that it is saved nicely (might be nice to debounce this).\n",
       "    setTimeout(function () { fig.push_to_output() }, 1000);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items){\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) { continue; };\n",
       "\n",
       "        var button = $('<button class=\"btn btn-default\" href=\"#\" title=\"' + name + '\"><i class=\"fa ' + image + ' fa-lg\"></i></button>');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    // Add the status bar.\n",
       "    var status_bar = $('<span class=\"mpl-message\" style=\"text-align:right; float: right;\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "\n",
       "    // Add the close button to the window.\n",
       "    var buttongrp = $('<div class=\"btn-group inline pull-right\"></div>');\n",
       "    var button = $('<button class=\"btn btn-mini btn-primary\" href=\"#\" title=\"Stop Interaction\"><i class=\"fa fa-power-off icon-remove icon-large\"></i></button>');\n",
       "    button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
       "    button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
       "    buttongrp.append(button);\n",
       "    var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
       "    titlebar.prepend(buttongrp);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(el){\n",
       "    var fig = this\n",
       "    el.on(\"remove\", function(){\n",
       "\tfig.close_ws(fig, {});\n",
       "    });\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(el){\n",
       "    // this is important to make the div 'focusable\n",
       "    el.attr('tabindex', 0)\n",
       "    // reach out to IPython and tell the keyboard manager to turn it's self\n",
       "    // off when our div gets focus\n",
       "\n",
       "    // location in version 3\n",
       "    if (IPython.notebook.keyboard_manager) {\n",
       "        IPython.notebook.keyboard_manager.register_events(el);\n",
       "    }\n",
       "    else {\n",
       "        // location in version 2\n",
       "        IPython.keyboard_manager.register_events(el);\n",
       "    }\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    var manager = IPython.notebook.keyboard_manager;\n",
       "    if (!manager)\n",
       "        manager = IPython.keyboard_manager;\n",
       "\n",
       "    // Check for shift+enter\n",
       "    if (event.shiftKey && event.which == 13) {\n",
       "        this.canvas_div.blur();\n",
       "        event.shiftKey = false;\n",
       "        // Send a \"J\" for go to next cell\n",
       "        event.which = 74;\n",
       "        event.keyCode = 74;\n",
       "        manager.command_mode();\n",
       "        manager.handle_keydown(event);\n",
       "    }\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    fig.ondownload(fig, null);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.find_output_cell = function(html_output) {\n",
       "    // Return the cell and output element which can be found *uniquely* in the notebook.\n",
       "    // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
       "    // IPython event is triggered only after the cells have been serialised, which for\n",
       "    // our purposes (turning an active figure into a static one), is too late.\n",
       "    var cells = IPython.notebook.get_cells();\n",
       "    var ncells = cells.length;\n",
       "    for (var i=0; i<ncells; i++) {\n",
       "        var cell = cells[i];\n",
       "        if (cell.cell_type === 'code'){\n",
       "            for (var j=0; j<cell.output_area.outputs.length; j++) {\n",
       "                var data = cell.output_area.outputs[j];\n",
       "                if (data.data) {\n",
       "                    // IPython >= 3 moved mimebundle to data attribute of output\n",
       "                    data = data.data;\n",
       "                }\n",
       "                if (data['text/html'] == html_output) {\n",
       "                    return [cell, data, j];\n",
       "                }\n",
       "            }\n",
       "        }\n",
       "    }\n",
       "}\n",
       "\n",
       "// Register the function which deals with the matplotlib target/channel.\n",
       "// The kernel may be null if the page has been refreshed.\n",
       "if (IPython.notebook.kernel != null) {\n",
       "    IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
       "}\n"
      ],
      "text/plain": [
       "<IPython.core.display.Javascript object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "text/html": [
       "<img 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5cAAi8gswHJggEVkFmA5MMAiMguwHBhgEZkFWA4MsIjMAiwHBlhEZgGWAwMsIrMAy4EBFpFZgOXA2traFASB/r7oX5r4YSURPaF/BPN6tenBbAVBoLa2Nis2OAnWH9/8TERulslkrNjgJFjZbFaZTEZtbW1d/hUHk/7ALpPJPPdZX+oLr5HX6WZtbW3KZDLKZrNWbHASrJ6svf2/97/a2+18jd0b6wuvUeJ1su4DLA/XF16jxOtk3QdYHq4vvEaJ18m6L3ZgPXjwQOl0Wg8ePLB9KZGtL7xGidfJui92YDHG4jvAYox5M8BijHkzwGKMeTPAYox5s1iBtWXLFhUXFyuRSCiVSqm+vt72JeV0mzZtUmlpqQYPHqzCwkLNmzdPFy5csH1Zka6qqkpBEGjdunW2LyXnu379uhYtWqThw4dr4MCBKikp0fHjx21fltOLDVi1tbXKz8/Xzp07de7cOa1YsUIFBQW6deuW7UvL2WbNmqXq6mqdPXtWp06d0uzZs5VMJnX37l3blxbJGhoaNHbsWE2aNCl2YN2+fVvFxcVatmyZ6uvr1dzcrIMHD+ry5cu2L83pxQasVCqlsrKyzh9ns1kVFRWpqqrK4lVFu9bWVgVBoLq6OtuXkvN1dHRo3LhxOnTokGbMmBE7sDZs2KDp06fbvgzvFguwHj58qLy8PO3du7fL40uWLNH7779v6aqiX1NTk4IgUGNjo+1LyfmWLFmi8vJySYolWBMmTFB5ebnmz5+vwsJCTZ48Wdu3b7d9Wc4vFmDduHFDQRDo6NGjXR5fv369UqmUpauKdtlsVnPmzNG0adNsX0rOt2fPHpWUlOj+/fuS4glWIpFQIpHQxo0bdeLECW3btk0DBw5UTU2N7UtzeoDl6VatWqXi4mJr/y5RVLt27ZpGjhyp06dPdz4WR7AGDBigqVOndnls7dq1mjJliqUr8mOxAKuvfUlYVlamMWPGqLm52fal5Hx79+5VEATKy8vrLAgC9evXT3l5eXr06JHtS8zJksmkli9f3uWxrVu3qqioyNIV+bFYgCX996b7mjVrOn+czWY1evToWN10f/z4scrKylRUVKRLly7ZvpxIdufOHTU2NnaptLRUixcvjtW9uoULF3a76V5eXt7tXRfrutiAVVtbq0QioZqaGp0/f14rV65UQUGBbt68afvScrbVq1dr6NChOnLkiFpaWjq7d++e7UuLdHH8krChoUH9+/dXZWWlmpqatHv3bg0aNEi7du2yfWlOLzZgSdLmzZuVTCaVn5+vVCqlY8eO2b6knO5J/752dXW17UuLdHEES5L27dunkpISJRIJjR8/nr8lNFiswGKMxXuAxRjzZoDFGPNmgMUY82aAxRjzZoDFGPNmgMUY82aAxRjzZoDFGPNmgMUY82aAxRjzZoDFGPNm/w+vo4NtDKh01QAAAABJRU5ErkJggg==\" width=\"300\">"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "application/javascript": [
       "/* Put everything inside the global mpl namespace */\n",
       "window.mpl = {};\n",
       "\n",
       "\n",
       "mpl.get_websocket_type = function() {\n",
       "    if (typeof(WebSocket) !== 'undefined') {\n",
       "        return WebSocket;\n",
       "    } else if (typeof(MozWebSocket) !== 'undefined') {\n",
       "        return MozWebSocket;\n",
       "    } else {\n",
       "        alert('Your browser does not have WebSocket support. ' +\n",
       "              'Please try Chrome, Safari or Firefox ≥ 6. ' +\n",
       "              'Firefox 4 and 5 are also supported but you ' +\n",
       "              'have to enable WebSockets in about:config.');\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure = function(figure_id, websocket, ondownload, parent_element) {\n",
       "    this.id = figure_id;\n",
       "\n",
       "    this.ws = websocket;\n",
       "\n",
       "    this.supports_binary = (this.ws.binaryType != undefined);\n",
       "\n",
       "    if (!this.supports_binary) {\n",
       "        var warnings = document.getElementById(\"mpl-warnings\");\n",
       "        if (warnings) {\n",
       "            warnings.style.display = 'block';\n",
       "            warnings.textContent = (\n",
       "                \"This browser does not support binary websocket messages. \" +\n",
       "                    \"Performance may be slow.\");\n",
       "        }\n",
       "    }\n",
       "\n",
       "    this.imageObj = new Image();\n",
       "\n",
       "    this.context = undefined;\n",
       "    this.message = undefined;\n",
       "    this.canvas = undefined;\n",
       "    this.rubberband_canvas = undefined;\n",
       "    this.rubberband_context = undefined;\n",
       "    this.format_dropdown = undefined;\n",
       "\n",
       "    this.image_mode = 'full';\n",
       "\n",
       "    this.root = $('<div/>');\n",
       "    this._root_extra_style(this.root)\n",
       "    this.root.attr('style', 'display: inline-block');\n",
       "\n",
       "    $(parent_element).append(this.root);\n",
       "\n",
       "    this._init_header(this);\n",
       "    this._init_canvas(this);\n",
       "    this._init_toolbar(this);\n",
       "\n",
       "    var fig = this;\n",
       "\n",
       "    this.waiting = false;\n",
       "\n",
       "    this.ws.onopen =  function () {\n",
       "            fig.send_message(\"supports_binary\", {value: fig.supports_binary});\n",
       "            fig.send_message(\"send_image_mode\", {});\n",
       "            if (mpl.ratio != 1) {\n",
       "                fig.send_message(\"set_dpi_ratio\", {'dpi_ratio': mpl.ratio});\n",
       "            }\n",
       "            fig.send_message(\"refresh\", {});\n",
       "        }\n",
       "\n",
       "    this.imageObj.onload = function() {\n",
       "            if (fig.image_mode == 'full') {\n",
       "                // Full images could contain transparency (where diff images\n",
       "                // almost always do), so we need to clear the canvas so that\n",
       "                // there is no ghosting.\n",
       "                fig.context.clearRect(0, 0, fig.canvas.width, fig.canvas.height);\n",
       "            }\n",
       "            fig.context.drawImage(fig.imageObj, 0, 0);\n",
       "        };\n",
       "\n",
       "    this.imageObj.onunload = function() {\n",
       "        fig.ws.close();\n",
       "    }\n",
       "\n",
       "    this.ws.onmessage = this._make_on_message_function(this);\n",
       "\n",
       "    this.ondownload = ondownload;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_header = function() {\n",
       "    var titlebar = $(\n",
       "        '<div class=\"ui-dialog-titlebar ui-widget-header ui-corner-all ' +\n",
       "        'ui-helper-clearfix\"/>');\n",
       "    var titletext = $(\n",
       "        '<div class=\"ui-dialog-title\" style=\"width: 100%; ' +\n",
       "        'text-align: center; padding: 3px;\"/>');\n",
       "    titlebar.append(titletext)\n",
       "    this.root.append(titlebar);\n",
       "    this.header = titletext[0];\n",
       "}\n",
       "\n",
       "\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(canvas_div) {\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_canvas = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var canvas_div = $('<div/>');\n",
       "\n",
       "    canvas_div.attr('style', 'position: relative; clear: both; outline: 0');\n",
       "\n",
       "    function canvas_keyboard_event(event) {\n",
       "        return fig.key_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    canvas_div.keydown('key_press', canvas_keyboard_event);\n",
       "    canvas_div.keyup('key_release', canvas_keyboard_event);\n",
       "    this.canvas_div = canvas_div\n",
       "    this._canvas_extra_style(canvas_div)\n",
       "    this.root.append(canvas_div);\n",
       "\n",
       "    var canvas = $('<canvas/>');\n",
       "    canvas.addClass('mpl-canvas');\n",
       "    canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
       "\n",
       "    this.canvas = canvas[0];\n",
       "    this.context = canvas[0].getContext(\"2d\");\n",
       "\n",
       "    var backingStore = this.context.backingStorePixelRatio ||\n",
       "\tthis.context.webkitBackingStorePixelRatio ||\n",
       "\tthis.context.mozBackingStorePixelRatio ||\n",
       "\tthis.context.msBackingStorePixelRatio ||\n",
       "\tthis.context.oBackingStorePixelRatio ||\n",
       "\tthis.context.backingStorePixelRatio || 1;\n",
       "\n",
       "    mpl.ratio = (window.devicePixelRatio || 1) / backingStore;\n",
       "\n",
       "    var rubberband = $('<canvas/>');\n",
       "    rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
       "\n",
       "    var pass_mouse_events = true;\n",
       "\n",
       "    canvas_div.resizable({\n",
       "        start: function(event, ui) {\n",
       "            pass_mouse_events = false;\n",
       "        },\n",
       "        resize: function(event, ui) {\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "        stop: function(event, ui) {\n",
       "            pass_mouse_events = true;\n",
       "            fig.request_resize(ui.size.width, ui.size.height);\n",
       "        },\n",
       "    });\n",
       "\n",
       "    function mouse_event_fn(event) {\n",
       "        if (pass_mouse_events)\n",
       "            return fig.mouse_event(event, event['data']);\n",
       "    }\n",
       "\n",
       "    rubberband.mousedown('button_press', mouse_event_fn);\n",
       "    rubberband.mouseup('button_release', mouse_event_fn);\n",
       "    // Throttle sequential mouse events to 1 every 20ms.\n",
       "    rubberband.mousemove('motion_notify', mouse_event_fn);\n",
       "\n",
       "    rubberband.mouseenter('figure_enter', mouse_event_fn);\n",
       "    rubberband.mouseleave('figure_leave', mouse_event_fn);\n",
       "\n",
       "    canvas_div.on(\"wheel\", function (event) {\n",
       "        event = event.originalEvent;\n",
       "        event['data'] = 'scroll'\n",
       "        if (event.deltaY < 0) {\n",
       "            event.step = 1;\n",
       "        } else {\n",
       "            event.step = -1;\n",
       "        }\n",
       "        mouse_event_fn(event);\n",
       "    });\n",
       "\n",
       "    canvas_div.append(canvas);\n",
       "    canvas_div.append(rubberband);\n",
       "\n",
       "    this.rubberband = rubberband;\n",
       "    this.rubberband_canvas = rubberband[0];\n",
       "    this.rubberband_context = rubberband[0].getContext(\"2d\");\n",
       "    this.rubberband_context.strokeStyle = \"#000000\";\n",
       "\n",
       "    this._resize_canvas = function(width, height) {\n",
       "        // Keep the size of the canvas, canvas container, and rubber band\n",
       "        // canvas in synch.\n",
       "        canvas_div.css('width', width)\n",
       "        canvas_div.css('height', height)\n",
       "\n",
       "        canvas.attr('width', width * mpl.ratio);\n",
       "        canvas.attr('height', height * mpl.ratio);\n",
       "        canvas.attr('style', 'width: ' + width + 'px; height: ' + height + 'px;');\n",
       "\n",
       "        rubberband.attr('width', width);\n",
       "        rubberband.attr('height', height);\n",
       "    }\n",
       "\n",
       "    // Set the figure to an initial 600x600px, this will subsequently be updated\n",
       "    // upon first draw.\n",
       "    this._resize_canvas(600, 600);\n",
       "\n",
       "    // Disable right mouse context menu.\n",
       "    $(this.rubberband_canvas).bind(\"contextmenu\",function(e){\n",
       "        return false;\n",
       "    });\n",
       "\n",
       "    function set_focus () {\n",
       "        canvas.focus();\n",
       "        canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    window.setTimeout(set_focus, 100);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items) {\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) {\n",
       "            // put a spacer in here.\n",
       "            continue;\n",
       "        }\n",
       "        var button = $('<button/>');\n",
       "        button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
       "                        'ui-button-icon-only');\n",
       "        button.attr('role', 'button');\n",
       "        button.attr('aria-disabled', 'false');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "\n",
       "        var icon_img = $('<span/>');\n",
       "        icon_img.addClass('ui-button-icon-primary ui-icon');\n",
       "        icon_img.addClass(image);\n",
       "        icon_img.addClass('ui-corner-all');\n",
       "\n",
       "        var tooltip_span = $('<span/>');\n",
       "        tooltip_span.addClass('ui-button-text');\n",
       "        tooltip_span.html(tooltip);\n",
       "\n",
       "        button.append(icon_img);\n",
       "        button.append(tooltip_span);\n",
       "\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    var fmt_picker_span = $('<span/>');\n",
       "\n",
       "    var fmt_picker = $('<select/>');\n",
       "    fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
       "    fmt_picker_span.append(fmt_picker);\n",
       "    nav_element.append(fmt_picker_span);\n",
       "    this.format_dropdown = fmt_picker[0];\n",
       "\n",
       "    for (var ind in mpl.extensions) {\n",
       "        var fmt = mpl.extensions[ind];\n",
       "        var option = $(\n",
       "            '<option/>', {selected: fmt === mpl.default_extension}).html(fmt);\n",
       "        fmt_picker.append(option);\n",
       "    }\n",
       "\n",
       "    // Add hover states to the ui-buttons\n",
       "    $( \".ui-button\" ).hover(\n",
       "        function() { $(this).addClass(\"ui-state-hover\");},\n",
       "        function() { $(this).removeClass(\"ui-state-hover\");}\n",
       "    );\n",
       "\n",
       "    var status_bar = $('<span class=\"mpl-message\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
       "    // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
       "    // which will in turn request a refresh of the image.\n",
       "    this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_message = function(type, properties) {\n",
       "    properties['type'] = type;\n",
       "    properties['figure_id'] = this.id;\n",
       "    this.ws.send(JSON.stringify(properties));\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_draw_message = function() {\n",
       "    if (!this.waiting) {\n",
       "        this.waiting = true;\n",
       "        this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
       "    }\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    var format_dropdown = fig.format_dropdown;\n",
       "    var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
       "    fig.ondownload(fig, format);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
       "    var size = msg['size'];\n",
       "    if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
       "        fig._resize_canvas(size[0], size[1]);\n",
       "        fig.send_message(\"refresh\", {});\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
       "    var x0 = msg['x0'] / mpl.ratio;\n",
       "    var y0 = (fig.canvas.height - msg['y0']) / mpl.ratio;\n",
       "    var x1 = msg['x1'] / mpl.ratio;\n",
       "    var y1 = (fig.canvas.height - msg['y1']) / mpl.ratio;\n",
       "    x0 = Math.floor(x0) + 0.5;\n",
       "    y0 = Math.floor(y0) + 0.5;\n",
       "    x1 = Math.floor(x1) + 0.5;\n",
       "    y1 = Math.floor(y1) + 0.5;\n",
       "    var min_x = Math.min(x0, x1);\n",
       "    var min_y = Math.min(y0, y1);\n",
       "    var width = Math.abs(x1 - x0);\n",
       "    var height = Math.abs(y1 - y0);\n",
       "\n",
       "    fig.rubberband_context.clearRect(\n",
       "        0, 0, fig.canvas.width / mpl.ratio, fig.canvas.height / mpl.ratio);\n",
       "\n",
       "    fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
       "    // Updates the figure title.\n",
       "    fig.header.textContent = msg['label'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
       "    var cursor = msg['cursor'];\n",
       "    switch(cursor)\n",
       "    {\n",
       "    case 0:\n",
       "        cursor = 'pointer';\n",
       "        break;\n",
       "    case 1:\n",
       "        cursor = 'default';\n",
       "        break;\n",
       "    case 2:\n",
       "        cursor = 'crosshair';\n",
       "        break;\n",
       "    case 3:\n",
       "        cursor = 'move';\n",
       "        break;\n",
       "    }\n",
       "    fig.rubberband_canvas.style.cursor = cursor;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
       "    fig.message.textContent = msg['message'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
       "    // Request the server to send over a new figure.\n",
       "    fig.send_draw_message();\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
       "    fig.image_mode = msg['mode'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Called whenever the canvas gets updated.\n",
       "    this.send_message(\"ack\", {});\n",
       "}\n",
       "\n",
       "// A function to construct a web socket function for onmessage handling.\n",
       "// Called in the figure constructor.\n",
       "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
       "    return function socket_on_message(evt) {\n",
       "        if (evt.data instanceof Blob) {\n",
       "            /* FIXME: We get \"Resource interpreted as Image but\n",
       "             * transferred with MIME type text/plain:\" errors on\n",
       "             * Chrome.  But how to set the MIME type?  It doesn't seem\n",
       "             * to be part of the websocket stream */\n",
       "            evt.data.type = \"image/png\";\n",
       "\n",
       "            /* Free the memory for the previous frames */\n",
       "            if (fig.imageObj.src) {\n",
       "                (window.URL || window.webkitURL).revokeObjectURL(\n",
       "                    fig.imageObj.src);\n",
       "            }\n",
       "\n",
       "            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
       "                evt.data);\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "        else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
       "            fig.imageObj.src = evt.data;\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        var msg = JSON.parse(evt.data);\n",
       "        var msg_type = msg['type'];\n",
       "\n",
       "        // Call the  \"handle_{type}\" callback, which takes\n",
       "        // the figure and JSON message as its only arguments.\n",
       "        try {\n",
       "            var callback = fig[\"handle_\" + msg_type];\n",
       "        } catch (e) {\n",
       "            console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        if (callback) {\n",
       "            try {\n",
       "                // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
       "                callback(fig, msg);\n",
       "            } catch (e) {\n",
       "                console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
       "            }\n",
       "        }\n",
       "    };\n",
       "}\n",
       "\n",
       "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
       "mpl.findpos = function(e) {\n",
       "    //this section is from http://www.quirksmode.org/js/events_properties.html\n",
       "    var targ;\n",
       "    if (!e)\n",
       "        e = window.event;\n",
       "    if (e.target)\n",
       "        targ = e.target;\n",
       "    else if (e.srcElement)\n",
       "        targ = e.srcElement;\n",
       "    if (targ.nodeType == 3) // defeat Safari bug\n",
       "        targ = targ.parentNode;\n",
       "\n",
       "    // jQuery normalizes the pageX and pageY\n",
       "    // pageX,Y are the mouse positions relative to the document\n",
       "    // offset() returns the position of the element relative to the document\n",
       "    var x = e.pageX - $(targ).offset().left;\n",
       "    var y = e.pageY - $(targ).offset().top;\n",
       "\n",
       "    return {\"x\": x, \"y\": y};\n",
       "};\n",
       "\n",
       "/*\n",
       " * return a copy of an object with only non-object keys\n",
       " * we need this to avoid circular references\n",
       " * http://stackoverflow.com/a/24161582/3208463\n",
       " */\n",
       "function simpleKeys (original) {\n",
       "  return Object.keys(original).reduce(function (obj, key) {\n",
       "    if (typeof original[key] !== 'object')\n",
       "        obj[key] = original[key]\n",
       "    return obj;\n",
       "  }, {});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.mouse_event = function(event, name) {\n",
       "    var canvas_pos = mpl.findpos(event)\n",
       "\n",
       "    if (name === 'button_press')\n",
       "    {\n",
       "        this.canvas.focus();\n",
       "        this.canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    var x = canvas_pos.x * mpl.ratio;\n",
       "    var y = canvas_pos.y * mpl.ratio;\n",
       "\n",
       "    this.send_message(name, {x: x, y: y, button: event.button,\n",
       "                             step: event.step,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "\n",
       "    /* This prevents the web browser from automatically changing to\n",
       "     * the text insertion cursor when the button is pressed.  We want\n",
       "     * to control all of the cursor setting manually through the\n",
       "     * 'cursor' event from matplotlib */\n",
       "    event.preventDefault();\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    // Handle any extra behaviour associated with a key event\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.key_event = function(event, name) {\n",
       "\n",
       "    // Prevent repeat events\n",
       "    if (name == 'key_press')\n",
       "    {\n",
       "        if (event.which === this._key)\n",
       "            return;\n",
       "        else\n",
       "            this._key = event.which;\n",
       "    }\n",
       "    if (name == 'key_release')\n",
       "        this._key = null;\n",
       "\n",
       "    var value = '';\n",
       "    if (event.ctrlKey && event.which != 17)\n",
       "        value += \"ctrl+\";\n",
       "    if (event.altKey && event.which != 18)\n",
       "        value += \"alt+\";\n",
       "    if (event.shiftKey && event.which != 16)\n",
       "        value += \"shift+\";\n",
       "\n",
       "    value += 'k';\n",
       "    value += event.which.toString();\n",
       "\n",
       "    this._key_event_extra(event, name);\n",
       "\n",
       "    this.send_message(name, {key: value,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
       "    if (name == 'download') {\n",
       "        this.handle_save(this, null);\n",
       "    } else {\n",
       "        this.send_message(\"toolbar_button\", {name: name});\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
       "    this.message.textContent = tooltip;\n",
       "};\n",
       "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
       "\n",
       "mpl.extensions = [\"eps\", \"jpeg\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\"];\n",
       "\n",
       "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
       "    // Create a \"websocket\"-like object which calls the given IPython comm\n",
       "    // object with the appropriate methods. Currently this is a non binary\n",
       "    // socket, so there is still some room for performance tuning.\n",
       "    var ws = {};\n",
       "\n",
       "    ws.close = function() {\n",
       "        comm.close()\n",
       "    };\n",
       "    ws.send = function(m) {\n",
       "        //console.log('sending', m);\n",
       "        comm.send(m);\n",
       "    };\n",
       "    // Register the callback with on_msg.\n",
       "    comm.on_msg(function(msg) {\n",
       "        //console.log('receiving', msg['content']['data'], msg);\n",
       "        // Pass the mpl event to the overridden (by mpl) onmessage function.\n",
       "        ws.onmessage(msg['content']['data'])\n",
       "    });\n",
       "    return ws;\n",
       "}\n",
       "\n",
       "mpl.mpl_figure_comm = function(comm, msg) {\n",
       "    // This is the function which gets called when the mpl process\n",
       "    // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
       "\n",
       "    var id = msg.content.data.id;\n",
       "    // Get hold of the div created by the display call when the Comm\n",
       "    // socket was opened in Python.\n",
       "    var element = $(\"#\" + id);\n",
       "    var ws_proxy = comm_websocket_adapter(comm)\n",
       "\n",
       "    function ondownload(figure, format) {\n",
       "        window.open(figure.imageObj.src);\n",
       "    }\n",
       "\n",
       "    var fig = new mpl.figure(id, ws_proxy,\n",
       "                           ondownload,\n",
       "                           element.get(0));\n",
       "\n",
       "    // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
       "    // web socket which is closed, not our websocket->open comm proxy.\n",
       "    ws_proxy.onopen();\n",
       "\n",
       "    fig.parent_element = element.get(0);\n",
       "    fig.cell_info = mpl.find_output_cell(\"<div id='\" + id + \"'></div>\");\n",
       "    if (!fig.cell_info) {\n",
       "        console.error(\"Failed to find cell for figure\", id, fig);\n",
       "        return;\n",
       "    }\n",
       "\n",
       "    var output_index = fig.cell_info[2]\n",
       "    var cell = fig.cell_info[0];\n",
       "\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
       "    var width = fig.canvas.width/mpl.ratio\n",
       "    fig.root.unbind('remove')\n",
       "\n",
       "    // Update the output cell to use the data from the current canvas.\n",
       "    fig.push_to_output();\n",
       "    var dataURL = fig.canvas.toDataURL();\n",
       "    // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
       "    // the notebook keyboard shortcuts fail.\n",
       "    IPython.keyboard_manager.enable()\n",
       "    $(fig.parent_element).html('<img src=\"' + dataURL + '\" width=\"' + width + '\">');\n",
       "    fig.close_ws(fig, msg);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.close_ws = function(fig, msg){\n",
       "    fig.send_message('closing', msg);\n",
       "    // fig.ws.close()\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
       "    // Turn the data on the canvas into data in the output cell.\n",
       "    var width = this.canvas.width/mpl.ratio\n",
       "    var dataURL = this.canvas.toDataURL();\n",
       "    this.cell_info[1]['text/html'] = '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Tell IPython that the notebook contents must change.\n",
       "    IPython.notebook.set_dirty(true);\n",
       "    this.send_message(\"ack\", {});\n",
       "    var fig = this;\n",
       "    // Wait a second, then push the new image to the DOM so\n",
       "    // that it is saved nicely (might be nice to debounce this).\n",
       "    setTimeout(function () { fig.push_to_output() }, 1000);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>');\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items){\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) { continue; };\n",
       "\n",
       "        var button = $('<button class=\"btn btn-default\" href=\"#\" title=\"' + name + '\"><i class=\"fa ' + image + ' fa-lg\"></i></button>');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    // Add the status bar.\n",
       "    var status_bar = $('<span class=\"mpl-message\" style=\"text-align:right; float: right;\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "\n",
       "    // Add the close button to the window.\n",
       "    var buttongrp = $('<div class=\"btn-group inline pull-right\"></div>');\n",
       "    var button = $('<button class=\"btn btn-mini btn-primary\" href=\"#\" title=\"Stop Interaction\"><i class=\"fa fa-power-off icon-remove icon-large\"></i></button>');\n",
       "    button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
       "    button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
       "    buttongrp.append(button);\n",
       "    var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
       "    titlebar.prepend(buttongrp);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(el){\n",
       "    var fig = this\n",
       "    el.on(\"remove\", function(){\n",
       "\tfig.close_ws(fig, {});\n",
       "    });\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(el){\n",
       "    // this is important to make the div 'focusable\n",
       "    el.attr('tabindex', 0)\n",
       "    // reach out to IPython and tell the keyboard manager to turn it's self\n",
       "    // off when our div gets focus\n",
       "\n",
       "    // location in version 3\n",
       "    if (IPython.notebook.keyboard_manager) {\n",
       "        IPython.notebook.keyboard_manager.register_events(el);\n",
       "    }\n",
       "    else {\n",
       "        // location in version 2\n",
       "        IPython.keyboard_manager.register_events(el);\n",
       "    }\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    var manager = IPython.notebook.keyboard_manager;\n",
       "    if (!manager)\n",
       "        manager = IPython.keyboard_manager;\n",
       "\n",
       "    // Check for shift+enter\n",
       "    if (event.shiftKey && event.which == 13) {\n",
       "        this.canvas_div.blur();\n",
       "        event.shiftKey = false;\n",
       "        // Send a \"J\" for go to next cell\n",
       "        event.which = 74;\n",
       "        event.keyCode = 74;\n",
       "        manager.command_mode();\n",
       "        manager.handle_keydown(event);\n",
       "    }\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    fig.ondownload(fig, null);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.find_output_cell = function(html_output) {\n",
       "    // Return the cell and output element which can be found *uniquely* in the notebook.\n",
       "    // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
       "    // IPython event is triggered only after the cells have been serialised, which for\n",
       "    // our purposes (turning an active figure into a static one), is too late.\n",
       "    var cells = IPython.notebook.get_cells();\n",
       "    var ncells = cells.length;\n",
       "    for (var i=0; i<ncells; i++) {\n",
       "        var cell = cells[i];\n",
       "        if (cell.cell_type === 'code'){\n",
       "            for (var j=0; j<cell.output_area.outputs.length; j++) {\n",
       "                var data = cell.output_area.outputs[j];\n",
       "                if (data.data) {\n",
       "                    // IPython >= 3 moved mimebundle to data attribute of output\n",
       "                    data = data.data;\n",
       "                }\n",
       "                if (data['text/html'] == html_output) {\n",
       "                    return [cell, data, j];\n",
       "                }\n",
       "            }\n",
       "        }\n",
       "    }\n",
       "}\n",
       "\n",
       "// Register the function which deals with the matplotlib target/channel.\n",
       "// The kernel may be null if the page has been refreshed.\n",
       "if (IPython.notebook.kernel != null) {\n",
       "    IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
       "}\n"
      ],
      "text/plain": [
       "<IPython.core.display.Javascript object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "text/html": [
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ZhAsAGYQLABmECwAZhAsAGYQLABmECwAZhAsAGYQLABmECwAZhAsAGYQLABmECwAZhAsAGYQLABmECwAZhAsAGYQLABmECwAZhAsAGYQLABmECwAZhAsAGb8H6FhAeuFfi6/AAAAAElFTkSuQmCC\" width=\"300\">"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "policy = -1*np.ones((8, 8))                         # Initialize policy\n",
    "for i in range(8):                                  # Loop over rows\n",
    "    for j in range(8):                              # Loop over columns\n",
    "        policy[i, j] = np.argmax(Q_table[i, j, :])  # Save the policy's action\n",
    "\n",
    "        \n",
    "# Plot learned policy\n",
    "plt.figure(figsize=(3,3))\n",
    "plt.imshow(policy, vmin=0, vmax=3)\n",
    "\n",
    "# Plot color conventions\n",
    "plt.figure(figsize=(3,3))\n",
    "plt.imshow(np.arange(num_actions).reshape(1, -1));\n",
    "plt.yticks([])\n",
    "plt.xticks([0, 1, 2, 3], ['Up', 'Right', 'Down', 'Left']);"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.6.7"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}