Map

src.python_motion_planning.utils.environment.env.Map

Bases: Env

Class for continuous 2-d map.

Parameters:

Name	Type	Description	Default
x_range	int	x-axis range of enviroment	required
y_range	int	y-axis range of environmet	required

Source code in src\python_motion_planning\utils\environment\env.py

Python

class Map(Env):
    """
    Class for continuous 2-d map.

    Parameters:
        x_range (int): x-axis range of enviroment
        y_range (int): y-axis range of environmet
    """
    def __init__(self, x_range: int, y_range: int) -> None:
        super().__init__(x_range, y_range)
        self.boundary = None
        self.obs_circ = None
        self.obs_rect = None
        self.init()

    def init(self):
        """
        Initialize map.
        """
        x, y = self.x_range, self.y_range

        # boundary of environment
        self.boundary = [
            [0, 0, 1, y],
            [0, y, x, 1],
            [1, 0, x, 1],
            [x, 1, 1, y]
        ]
        self.obs_rect = []
        self.obs_circ = []

    def update(self, boundary=None, obs_circ=None, obs_rect=None):
        self.boundary = boundary if boundary else self.boundary
        self.obs_circ = obs_circ if obs_circ else self.obs_circ
        self.obs_rect = obs_rect if obs_rect else self.obs_rect

init()

Initialize map.

Source code in src\python_motion_planning\utils\environment\env.py

Python

def init(self):
    """
    Initialize map.
    """
    x, y = self.x_range, self.y_range

    # boundary of environment
    self.boundary = [
        [0, 0, 1, y],
        [0, y, x, 1],
        [1, 0, x, 1],
        [x, 1, 1, y]
    ]
    self.obs_rect = []
    self.obs_circ = []