update

Sampling-based Planning/env.py

@@ -0,0 +1,30 @@
+import numpy as np
+
+class Env:
+    def __init__(self):
+        self.x_range = (0, 50)  # size of background
+        self.y_range = (0, 30)
+        self.obs = self.obs_map()
+
+    def obs_map(self):
+        """
+        Initialize obstacles' positions
+
+        :return: map of obstacles
+        """
+
+        x = self.x_range
+        y = self.y_range
+        w = 2
+
+        obs_boundary = []
+
+        for i in np.linspace(x[0], x[1], (x[1]-x[0])//w+1):
+            obs_boundary.append((i, y[0], w))
+        for i in np.linspace(x[0], x[1], (x[1]-x[0])//w+1):
+            obs_boundary.append((i, y[1], w))
+        for j in np.linspace(y[0], y[1], (y[1]-y[0])//w+1):
+            obs_boundary.append((j, x[0], w))
+        for j in np.linspace(y[0], y[1], (y[1]-y[0])//w+1):
+            obs_boundary.append((j, x[1], w))
+