update format

Sampling-based Planning/rrt_2D/env.py

@@ -0,0 +1,45 @@
+class Env:
+    def __init__(self):
+        self.x_range = (0, 50)
+        self.y_range = (0, 30)
+        self.obs_boundary = self.obs_boundary()
+        self.obs_circle = self.obs_circle()
+        self.obs_rectangle = self.obs_rectangle()
+
+    @staticmethod
+    def obs_boundary():
+        obs_boundary = [
+            (0, 0, 1, 30),
+            (0, 30, 50, 1),
+            (1, 0, 50, 1),
+            (50, 1, 1, 30)
+            # (20, 1, 1, 15),
+            # (10, 15, 10, 1),
+            # (30, 15, 1, 15),
+            # (40, 1, 1, 15)
+        ]
+        return obs_boundary
+
+    @staticmethod
+    def obs_rectangle():
+        obs_rectangle = [
+            (13, 10, 5, 3),
+            (18, 4, 5, 4),
+            (22, 13, 6, 3),
+            (33, 15, 5, 3),
+            (42, 6, 5, 3)
+        ]
+        return obs_rectangle
+
+    @staticmethod
+    def obs_circle():
+        obs_cir = [
+            (5, 10, 3),
+            (10, 22, 3.5),
+            (21, 23, 3),
+            (34, 9, 4),
+            (37, 23, 3),
+            (45, 20, 2)
+        ]
+
+        return obs_cir