mirror of
https://github.com/zhm-real/PathPlanning.git
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zhm-real
53 lines
1.1 KiB
Python
53 lines
1.1 KiB
Python
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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@author: huiming zhou
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"""
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import matplotlib.pyplot as plt
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x_range, y_range = 51, 31 # size of background
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def obs_map():
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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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obs = []
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for i in range(x_range):
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obs.append((i, 0))
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for i in range(x_range):
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obs.append((i, y_range - 1))
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for i in range(y_range):
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obs.append((0, i))
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for i in range(y_range):
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obs.append((x_range - 1, i))
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for i in range(10, 21):
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obs.append((i, 15))
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for i in range(15):
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obs.append((20, i))
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for i in range(15, 30):
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obs.append((30, i))
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for i in range(16):
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obs.append((40, i))
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return obs
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def show_map(xI, xG, obs_map, name):
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obs_x = [obs_map[i][0] for i in range(len(obs_map))]
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obs_y = [obs_map[i][1] for i in range(len(obs_map))]
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plt.plot(xI[0], xI[1], "bs")
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plt.plot(xG[0], xG[1], "gs")
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plt.plot(obs_x, obs_y, "sk")
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plt.title(name, fontdict=None)
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plt.grid(True)
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plt.axis("equal")
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