def show(self):
self.get_outline()
draw_point(self._pos, self._l / 2.0)
plt.plot(self._outline_x, self._outline_y, color='black')
self._outline_x = [tail_l_x, tail_r_x, head_r_x, head_l_x, tail_l_x]
self._outline_y = [tail_l_y, tail_r_y, head_r_y, head_l_y, tail_l_y]
return self._outline_x, self._outline_y
def show(self):
self.get_outline()
draw_point(self._pos, self._l / 2.0)
plt.plot(self._outline_x, self._outline_y, color='black')
if __name__ == "__main__":
car = Car(2.0, 1.0)
plt.figure()
start = [1, 1, math.pi / 3]
end = [5, 10, -math.pi / 2]
r = 5.0
rspath = ReedsSheppPath(start, end, r)
rspath.calc_paths()
path, _ = rspath.get_shortest_path()
print path
xs, ys, yaws = ReedsSheppPath.gen_path(start, path, r, section=False)
for i in range(len(xs)):
plt.clf()
draw_point(start)
draw_point(end)
plt.axis("equal")
plt.plot(xs, ys)
car.set_position([xs[i], ys[i], yaws[i]])
car.show()
plt.pause(0.1)
plt.show()