altitude, safe_distance = 5, 3 self.grid = create_grid(data, altitude, safe_distance) def get_grid(self): return self.grid def show(self, x_values, y_values): skeleton = medial_axis(invert(self.grid)) plt.imshow(self.grid, origin='lower') plt.imshow(skeleton, cmap='Greys', origin='lower', alpha=0.7) plt.xlabel('EAST') plt.ylabel('NORTH') plt.plot(x_values, y_values, 'g') plt.show() start_ne = (25, 100) goal_ne = (750., 370.) medial = Medial('colliders.csv') grid = medial.get_grid() astar = Astar(grid) found, paths = astar.travel(start_ne, goal_ne) path = astar.trace_back(paths) if found else exit("Couldn't find a path") xpoints, ypoints = astar.axis_points(path) medial.show(xpoints, ypoints)