mirror of
https://github.com/zhm-real/PathPlanning.git
synced 2026-08-30 00:50:46 +08:00
17 lines
1.4 KiB
Plaintext
17 lines
1.4 KiB
Plaintext
|
U
|
|||
|
|
´_ ã @ s d Z G dd„ dƒZdS )z
|
|||
|
|
Env 2D
|
|||
|
|
@author: huiming zhou
|
|||
|
|
c @ s$ e Zd Zdd„ Zdd„ Zdd„ ZdS )ÚEnvc C s0 d| _ d| _ddddddd d
|
|||
|
|
g| _| ¡ | _d S ) Né3 é )éÿÿÿÿé )r é )r r )r r )r r )r r )r r )r r )Úx_rangeÚy_rangeZmotionsÚobs_mapÚobs)Úself© r úk/home/zhou/GitHub/PathPlanning/Search_based_Planning/Search_2D/../../Search_based_Planning/Search_2D/env.pyÚ__init__ s ÿz Env.__init__c C s
|
|||
|
|
|| _ d S )N)r
|
|||
|
|
)r r
|
|||
|
|
r r r
|
|||
|
|
Ú
|
|||
|
|
update_obs s zEnv.update_obsc C s | j }| j}tƒ }t|ƒD ]}| |df¡ qt|ƒD ]}| ||d f¡ q6t|ƒD ]}| d|f¡ qVt|ƒD ]}| |d |f¡ qrtddƒD ]}| |df¡ q”tdƒD ]}| d|f¡ q°tddƒD ]}| d|f¡ qÎtdƒD ]}| d |f¡ qê|S )
|
|||
|
|
zS
|
|||
|
|
Initialize obstacles' positions
|
|||
|
|
:return: map of obstacles
|
|||
|
|
r r é
|
|||
|
|
é é é é é é( )r r ÚsetÚrangeÚadd)r ÚxÚyr
|
|||
|
|
Úir r r
|