Path_Planning_Algo_with_Animations/Sampling-based Planning/rrt_2D/env.py

"""
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