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zhm-real
46 lines
946 B
Python
46 lines
946 B
Python
"""
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Environment for rrt_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 = (0, 50)
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self.y_range = (0, 30)
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self.obs_boundary = self.obs_boundary()
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self.obs_circle = self.obs_circle()
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self.obs_rectangle = self.obs_rectangle()
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@staticmethod
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def obs_boundary():
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obs_boundary = [
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[0, 0, 1, 30],
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[0, 30, 50, 1],
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[1, 0, 50, 1],
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[50, 1, 1, 30]
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]
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return obs_boundary
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@staticmethod
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def obs_rectangle():
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obs_rectangle = [
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[14, 12, 8, 2],
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[18, 22, 8, 3],
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[26, 7, 2, 12],
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[32, 14, 10, 2]
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]
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return obs_rectangle
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@staticmethod
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def obs_circle():
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obs_cir = [
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[7, 12, 3],
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[46, 20, 2],
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[15, 5, 2],
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[37, 7, 3],
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[37, 23, 3]
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]
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return obs_cir
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