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scenarios.py
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scenarios.py
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import numpy as np
two_ellipse = {'start': (0, 0),
'goal': [(12, 8), (12, 9), (13, 9), (13, 8)],
'obs_list': [[5.5, 2.0, 4.5, 1.5, -35],
[8, 7, 4.2, 2.0, 65]]
}
one_obstacle = {'start': (0, 0),
'goal': [(5.9, 6.1), (5.9, 7.1), (6.9, 7.1), (6.9, 6.1)],
'obs_list': [[(3, 2), (2, 6), (4, 5), (6, 3)]],
}
two_obstacle = {'start': (3, 0),
'goal': [(5, 6), (5, 7), (6, 7), (6, 6)],
'obs_list': [[(1, 3), (4, 1), (4, 3)],
[(4.5, 6), (4.0, 4), (7.5, 3)]],
'control_pts': [(3, 0), (4.5, 1), (5, 2.8),
(3.5, 3.8), (2, 5.1), (3.7, 6.7), (5.5, 6.3)],
'bc_headings': (np.pi/6, -np.pi/6),
'control_pts_bad': [(3, 0), (3.8, 1.3), (4.5, 2.8),
(4.1, 4.1), (2.5, 5.4), (3.7, 6.7), (5.5, 6.5)],
'bc_headings_bad': (np.pi/4, -np.pi/6)
}
quad_boxes = {'start': (3.1, 0),
'goal': [(3.5, 6.5), (2.5, 6.5), (2.5, 5.5), (3.5, 5.5)],
'obs_list': [[(1, 1), (1, 3), (3, 3), (3, 1)],
[(1, 3), (1, 5), (3, 5), (3, 3)],
[(3, 1), (3, 3), (5, 3), (5, 1)],
[(3, 3), (3, 5), (5, 5), (5, 3)]],
}
five_obstacle = {'start': (0, 0),
'goal': [(12, 12), (12, 14), (14, 14), (14, 12)],
'obs_list': [[(2, 1), (3, 1), (3, 4), (1, 4)],
[(5, 1), (6, 3), (5, 5), (4, 3)],
[(1, 6), (6, 6), (6, 7), (2, 9)],
[(11, 4), (14, 5), (8, 11), (6, 9)],
[(5, 10), (7, 11), (8, 14), (4, 13)]],
'control_pts': [(0, 0), (3.5, 1), (4.0, 4.5), (6.4, 6.2),
(5.8, 9.4), (8.4, 11.5), (13, 13)],
'bc_headings': (np.pi/8, np.pi/8),
'control_pts_bad': [(0, 0), (4, 1), (4.3, 5), (6.2, 6.9),
(5.5, 9.3), (8.7, 10.7), (13, 13)],
'bc_headings_bad': (np.pi/8, np.pi/6)
}
nine_obstacle = {'start': (0, 0),
'goal': [(15, 9), (15, 11), (17, 11), (17, 9)],
'obs_list': [[(1, 1), (2, 1), (2, 4), (0, 4)],
[(5, -1), (6, 1), (5, 3), (4, 1)],
[(1, 6), (6, 6), (6, 7), (2, 9)],
[(11, 0), (14, 1), (10, 7), (8, 5)],
[(7, 7), (9, 8), (10, 11), (6, 10)],
[(6.3, 3.5), (5.8, 4.8),
(6.9, 5.2), (7.3, 3.9)],
[(11.8, 7.2), (10.3, 9), (13, 10),
(14.3, 9.2)],
[(10.5, 12.5), (12, 10.2),
(13.5, 10.5), (14.9, 13)],
[(13.5, 7), (13.5, 5), (15, 7)]],
'control_pts': [(0, 0), (4.0, 2.6), (7.5, 3), (6, 9), (10.5, 12),
(11.5, 6.0), (16, 10)],
'bc_headings': (np.pi/8, np.pi/2),
'control_pts_bad': [(0, 0), (4, 1), (4.3, 5), (6.2, 6.9),
(5.5, 9.3), (8.7, 10.7), (13, 13)],
'bc_headings_bad': (np.pi/8, np.pi/6)
}