plotSpace.m

function plotSpace( data, path, plotPath )

    if nargin < 3
        plotPath = false;
    end
    
    figure;
    hold all;
    
    for i=1:1:size(data,1)
        plotEllipse( data(i,1), data(i,2), data(i,3), data(i,4), 'k');
    end
    
    if plotPath == true
        for j=1:1:size(path,2)-1
            plot(data(path(1,j),1), data(path(1,j),2), 'o', 'MarkerSize', 5, 'MarkerEdgeColor', 'b', 'MarkerFaceColor', 'b');
            plot(data(path(1,j+1),1), data(path(1,j+1),2), 'o', 'MarkerSize', 5, 'MarkerEdgeColor', 'b', 'MarkerFaceColor', 'b');
            plot([data(path(1,j),1) data(path(1,j+1),1)],[data(path(1,j),2) data(path(1,j+1),2)], 'b', 'LineWidth', 1.0)
        end

        plot([data(path(1,size(path,2)),1) data(path(1,1),1)],[data(path(1,size(path,2)),2) data(path(1,1),2)], 'b', 'LineWidth', 1.0)
    end
    
    hold off
end