mirror of
https://github.com/zhm-real/PathPlanning.git
synced 2026-08-29 16:40:46 +08:00
zhm-real
51 lines
1.1 KiB
Python
51 lines
1.1 KiB
Python
"""
|
|
Environment for rrt_2D
|
|
@author: huiming zhou
|
|
"""
|
|
|
|
|
|
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]
|
|
]
|
|
return obs_boundary
|
|
|
|
@staticmethod
|
|
def obs_rectangle():
|
|
obs_rectangle = [
|
|
[13, 10, 5, 3],
|
|
[18, 4, 5, 4],
|
|
[18, 20, 8, 5],
|
|
[22, 13, 6, 3],
|
|
[33, 15, 5, 3],
|
|
[42, 6, 5, 3]
|
|
# [42, 25, 1, 2],
|
|
# [45, 23, 2, 1],
|
|
# [46, 27, 1, 2]
|
|
]
|
|
return obs_rectangle
|
|
|
|
@staticmethod
|
|
def obs_circle():
|
|
obs_cir = [
|
|
[5, 10, 3],
|
|
[10, 22, 3.5],
|
|
[34, 9, 4],
|
|
[37, 23, 3],
|
|
[45, 20, 2]
|
|
]
|
|
|
|
return obs_cir
|