def __init__(self, ppm_file, obs: list, start=(1, 1), goal=(1000, 1000)):
self.ppm_ = ou.PPM()
self.ppm_.loadFile(ppm_file)
self.width = self.ppm_.getWidth()
self.height = self.ppm_.getHeight()
self.space = ob.RealVectorStateSpace()
self.space.addDimension(0.0, self.width)
self.space.addDimension(0.0, self.height)
self.bounds = ob.RealVectorBounds(2)
self.bounds.setLow(0)
self.bounds.setHigh(1024)
self.space.setBounds(self.bounds)
self.cspace = oc.RealVectorControlSpace(self.space, 2)
self.cbounds = ob.RealVectorBounds(2)
self.cbounds.setLow(-1)
self.cbounds.setHigh(1)
self.cspace.setBounds(self.cbounds)
self.setup = oc.SimpleSetup(self.cspace)
self.obs = obs
self.start = start
self.goal = goal
def __init__(self, ppm_file):
self.ppm_ = ou.PPM()
self.ppm_.loadFile(ppm_file)
space = ob.RealVectorStateSpace()
space.addDimension(0.0, self.ppm_.getWidth())
space.addDimension(0.0, self.ppm_.getHeight())
self.maxWidth_ = self.ppm_.getWidth() - 1
self.maxHeight_ = self.ppm_.getHeight() - 1
self.ss_ = og.SimpleSetup(space)
# set state validity checking for this space
self.ss_.setStateValidityChecker(ob.StateValidityCheckerFn(
partial(Plane2DEnvironment.isStateValid, self)))
space.setup()
self.ss_.getSpaceInformation().setStateValidityCheckingResolution( \
1.0 / space.getMaximumExtent())