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zhm-real
45 lines
1.5 KiB
Python
45 lines
1.5 KiB
Python
# this is the three dimensional configuration space for rrt
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# !/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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@author: yue qi
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"""
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import numpy as np
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def getblocks(resolution):
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# AABBs
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block = [[3.10e+00, 0.00e+00, 2.10e+00, 3.90e+00, 5.00e+00, 6.00e+00],
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[9.10e+00, 0.00e+00, 2.10e+00, 9.90e+00, 5.00e+00, 6.00e+00],
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[1.51e+01, 0.00e+00, 2.10e+00, 1.59e+01, 5.00e+00, 6.00e+00],
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[1.00e-01, 0.00e+00, 0.00e+00, 9.00e-01, 5.00e+00, 3.90e+00],
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[6.10e+00, 0.00e+00, 0.00e+00, 6.90e+00, 5.00e+00, 3.90e+00],
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[1.21e+01, 0.00e+00, 0.00e+00, 1.29e+01, 5.00e+00, 3.90e+00],
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[1.81e+01, 0.00e+00, 0.00e+00, 1.89e+01, 5.00e+00, 3.90e+00]]
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Obstacles = []
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for i in block:
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i = np.array(i)
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Obstacles.append((i[0] / resolution, i[1] / resolution, i[2] / resolution, i[3] / resolution, i[4] / resolution,
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i[5] / resolution))
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return np.array(Obstacles)
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class env():
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def __init__(self, xmin=0, ymin=0, zmin=0, xmax=20, ymax=5, zmax=6, resolution=1):
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self.resolution = resolution
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self.boundary = np.array([xmin, ymin, zmin, xmax, ymax, zmax]) / resolution
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self.blocks = getblocks(resolution)
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self.start = np.array([0.5, 2.5, 5.5])
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self.goal = np.array([19.0, 2.5, 5.5])
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def visualize(self):
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# fig = plt.figure()
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# TODO: do visualizations
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return
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if __name__ == '__main__':
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newenv = env()
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X = StateSpace(newenv.boundary, newenv.resolution)
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print(X)
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