()
| 181 | |
| 182 | |
| 183 | def main(): |
| 184 | print(__file__ + " start!!") |
| 185 | |
| 186 | # start and goal position |
| 187 | sx = 10.0 # [m] |
| 188 | sy = 10.0 # [m] |
| 189 | gx = 50.0 # [m] |
| 190 | gy = 50.0 # [m] |
| 191 | grid_size = 2.0 # [m] |
| 192 | robot_size = 1.0 # [m] |
| 193 | |
| 194 | ox, oy = [], [] |
| 195 | |
| 196 | for i in range(60): |
| 197 | ox.append(i) |
| 198 | oy.append(0.0) |
| 199 | for i in range(60): |
| 200 | ox.append(60.0) |
| 201 | oy.append(i) |
| 202 | for i in range(61): |
| 203 | ox.append(i) |
| 204 | oy.append(60.0) |
| 205 | for i in range(61): |
| 206 | ox.append(0.0) |
| 207 | oy.append(i) |
| 208 | for i in range(40): |
| 209 | ox.append(20.0) |
| 210 | oy.append(i) |
| 211 | for i in range(40): |
| 212 | ox.append(40.0) |
| 213 | oy.append(60.0 - i) |
| 214 | |
| 215 | if show_animation: # pragma: no cover |
| 216 | plt.plot(ox, oy, ".k") |
| 217 | plt.plot(sx, sy, "xr") |
| 218 | plt.plot(gx, gy, "xb") |
| 219 | plt.grid(True) |
| 220 | plt.axis("equal") |
| 221 | |
| 222 | rx, ry, _ = dp_planning(sx, sy, gx, gy, ox, oy, grid_size, robot_size) |
| 223 | |
| 224 | if show_animation: # pragma: no cover |
| 225 | plt.plot(rx, ry, "-r") |
| 226 | plt.show() |
| 227 | |
| 228 | |
| 229 | if __name__ == '__main__': |
no test coverage detected