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14 lines
1.2 KiB
Plaintext
14 lines
1.2 KiB
Plaintext
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E÷ö^¯ ã @ s d Z G dd„ dƒZdS )z
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Env 2D
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@author: huiming zhou
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c @ s e Zd Zdd„ Zdd„ ZdS )ÚEnvc C s( d| _ d| _ddddg| _| ¡ | _d S )Né3 é )é é )éÿÿÿÿr )r r )r r )Úx_rangeÚy_rangeÚmotionsÚobs_mapÚobs)Úself© r
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úx/home/zhou/Program/path-planning-algorithms/Search-based Planning/Search_2D/../../Search-based Planning/Search_2D/env.pyÚ__init__ s z Env.__init__c C s" | j }| j}g }x t|ƒD ]}| |df¡ qW x"t|ƒD ]}| ||d f¡ q:W x t|ƒD ]}| d|f¡ q^W x"t|ƒD ]}| |d |f¡ q~W x tddƒD ]}| |df¡ q¤W x tdƒD ]}| d|f¡ qÄW x tddƒD ]}| d|f¡ qæW x tdƒD ]}| d |f¡ �qW |S )
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zT
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Initialize obstacles' positions
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:return: map of obstacles
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r r é
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é é é é é é( )r r ÚrangeÚappend)r ÚxÚyr Úir
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r
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r r
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