obstacles = [o]#,o1]
safe = [robot.loc]
# while it's not at the goal state
while goalTest(robot.loc, goal) == False:
target = robot.plan.pop(0)
targetx = target[0] * delta_x
targety = target[1] * delta_y
# make sure that point itself has space
obsCheck = map(lambda o: o.containsPoint((targetx, targety)), obstacles)
if True in obsCheck:
x, y = safe.pop()
robot.translate(x, y)
robot.plan = node.search(robot.loc, goal)
drawPath(robot.plan, delta_x, delta_y)
node.BadLocations.addBadLoc(target)
continue
# make sure every place along that path is possible
targetx = target[0] * delta_x
targety = target[1] * delta_y
currentx = robot.loc[0] * delta_x
currenty = robot.loc[1] * delta_y
# we're headed
_dir = direction(robot.loc, target)
dx, dy = _dir
def search(self, x):
return node.search(self.root, x)
def search(self, x): return node.search(self.root, x)
