def plot_graph(self, axis_size=[-0.5, 3, -0.5, 3]):
for obst in self.obstacles:
ObstacleMap.plot_polygon(obst)
for edge in self.edges:
edge.plot()
plt.axis('equal')
plt.axis(axis_size)
plt.show()
def removePointsInObstacle(exploreArray, map, plot=False):
newexploreArray = []
for p in exploreArray:
if plot:
plt.plot(p[0], p[1], 'ro')
for obst in map.obstacles:
ObstacleMap.plot_polygon(obst)
plt.show()
isInObstacle = inObstacle(p, map)
if not isInObstacle:
newexploreArray.append(list(p))
return np.array(newexploreArray)