env.add_obstacle(new_obstacle)
# update position of existing tag
else:
new_obstacle = deepcopy(obstacle)
new_obstacle = transform_shape(new_obstacle, rotation,
translation)
env.update_obstacle(new_obstacle)
# create boundaries for obstacles
env.create_boundaries()
print("Done creating boundaries")
# create a planner with current env, agent, and goal location and solve for a path
planner = PathFinder(env, env.agent, goal_.points[0])
planner.solve()
print("Done solving")
profiler = Profiler()
profiler.add_path(planner.export_path())
smooth_path = profiler.get_profile()
i = 0
# The following parameters may need to be tuned
step_size = 0.01
step_size_rot = 0.005
threshold = 0.05
rot_threshold = 0.01
pose = (0, 0)
import _pickle as pickle
import time
from path_finder import PathFinder
from boundary_detection import *
from path_profiler import Profiler
import matplotlib.pyplot as plt
env = pickle.load(open('sample_env.pkl', 'rb'))
pf = PathFinder(env, env.agent, Point(2, 7))
pf.solve()
env.path = pf.export_path()
print(len(env.path))
env.update_viz()
env.show_viz()
pr = Profiler()
pr.add_path(env.path)
pp = pr.get_profile()
pr.smooth_path()
