2020-06-16 14:07:58 -07:00
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2020-06-18 10:56:12 -07:00
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@author: huiming zhou
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é N)é2 é )é r )éÿÿÿÿr )r r )r r c C s dd„ t tƒD ƒ} x8t tƒD ],}dddg| d |< dddg| td |< q W x8t tƒD ],}dddg| | d< dddg| | td < qVW x$t ddƒD ]}dddg| d |< q’W xVt dƒD ]J}dddg| td | d < dddg| |d d< dddg| |d d
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Design the obstacles' positions.
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:return: the map of obstacles.
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c S s g | ]}d d„ t tƒD ƒ‘qS )c S s g | ]}d d d g‘qS )g ð?© )Ú.0Úxr r úBC:\Users\Huiming Zhou\Desktop\Search-based Planning\environment.pyú
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<listcomp> s z(obstacles.<locals>.<listcomp>.<listcomp>)ÚrangeÚcol)r Úyr r r r
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s z obstacles.<locals>.<listcomp>g r r é
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é é r é( )r Úrowr )Ú
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backgroundÚjÚir r r Ú obstacles
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s r c C s^ t ttf¡} tƒ }xDttƒD ]8}x2ttƒD ]&}|| | dddgkr,d| | |< q,W q W | S )z£
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Using a matrix to represent the position of obstacles,
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which is used for obstacle detection.
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:return: a matrix, in which '1' represents obstacle.
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g r )ÚnpÚzerosr r r r )Úobs_mapZpos_mapr r r r r Úmap_obs$ s r )Ú__doc__Únumpyr r r Úmotionsr r r r r r Ú<module> s
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