function f = draw_solution(traces, P)
% display car#i's belief of what other cars (1-to-k) are about to do
for j=1:length(traces)
  % j - index of particle
  trace = traces{j};
  if ~isempty(trace)
    for k=1:length(P.cars)
      % k - index of entity
      if k==1
        linespec = 'go';
      else
        linespec = 'mo';
      end
      draw_path(make_trajectory(trace, k), linespec, P);
      hold on
    end
  end
end
