def runner():
env = Environment((0, 0), (100, 50), (1, 1), (80, 30))
agent = Agent()
env.add_obstacle((25, 10), (75, 20))
env.add_obstacle((25, 35), (75, 45))
wp = WaypointPlanner(env, agent)
plan = wp.plan()
print(plan)
wp.visualise(plan)
goal_coord_x = int(input("enter x coordinate of goal: "))
goal_coord_y = int(input("enter y coordinate of goal: "))
env = Environment((grid_min_coord_x, grid_min_coord_y), (grid_max_coord_x,grid_max_coord_y), (agent_coord_x,agent_coord_y), (goal_coord_x,goal_coord_y))
flag = input("do you want to enter any obstacles (Y/N)? ")
while flag == "Y":
bottom_left_coord_x = int(input("\t enter bottom left x coordinate: "))
bottom_left_coord_y = int(input("\t enter bottom left y coordinate: "))
top_right_coord_x = int(input("\t enter top right x coordinate: "))
top_right_coord_y = int(input("\t enter top right y coordinate: "))
env.add_obstacle((bottom_left_coord_x,bottom_left_coord_y), (top_right_coord_x,top_right_coord_y))
flag = input("do you want to enter more obstacles (Y/N)? ")
agent = Agent()
ble1 = BLE(4, -73, (0,0))
ble2 = BLE(4, -73, (100,0))
ble3 = BLE(4, -73, (50,50))
wp = WaypointPlanner(env, agent)
plan = wp.plan()
print(plan)
wp.visualise(plan)
