(node, obmap, minx, miny, maxx, maxy)
| 120 | |
| 121 | |
| 122 | def verify_node(node, obmap, minx, miny, maxx, maxy): |
| 123 | |
| 124 | if node.x < minx: |
| 125 | return False |
| 126 | elif node.y < miny: |
| 127 | return False |
| 128 | elif node.x >= maxx: |
| 129 | return False |
| 130 | elif node.y >= maxy: |
| 131 | return False |
| 132 | |
| 133 | if obmap[node.x][node.y]: |
| 134 | return False |
| 135 | |
| 136 | return True |
| 137 | |
| 138 | |
| 139 | def calc_obstacle_map(ox, oy, reso, vr): |