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https://github.com/zhm-real/PathPlanning.git
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zhm-real
49 lines
1.0 KiB
Python
49 lines
1.0 KiB
Python
"""
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Env 2D
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@author: huiming zhou
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"""
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class Env:
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def __init__(self):
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self.x_range = 51 # size of background
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self.y_range = 31
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self.motions = [(-1, 0), (-1, 1), (0, 1), (1, 1),
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(1, 0), (1, -1), (0, -1), (-1, -1)]
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self.obs = self.obs_map()
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def update_obs(self, obs):
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self.obs = obs
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def obs_map(self):
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"""
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Initialize obstacles' positions
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:return: map of obstacles
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"""
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x = self.x_range
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y = self.y_range
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obs = set()
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for i in range(x):
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obs.add((i, 0))
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for i in range(x):
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obs.add((i, y - 1))
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for i in range(y):
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obs.add((0, i))
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for i in range(y):
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obs.add((x - 1, i))
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for i in range(10, 21):
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obs.add((i, 15))
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for i in range(15):
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obs.add((20, i))
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for i in range(15, 30):
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obs.add((30, i))
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for i in range(16):
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obs.add((40, i))
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return obs
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