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polygons-test-4.lsp
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polygons-test-4.lsp
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; Give the search an obstacle inside the bowtie perimiter -- add a box enclosing
; a bit of the x axis surrounding the origin, through which the empty bowtie
; path would run. Seat the box a bit off to one side, so the search has to
; choose one side over the other. Remember that the box points have to be
; counterclockwise.
(setf *polygons* (list
(list
(list -0.5 0.1)
(list -0.5 -0.1)
(list 0.2 -0.1)
(list 0.2 0.1)
(list -0.5 0.1)
(list -0.5 -0.1))
(list
(list 0.5 0.5)
(list 1.0 0.0)
(list 0.0 -1.0)
(list -0.5 -0.5)
(list -1.0 0.0)
(list 0.0 1.0)
(list 0.5 0.5)
(list 1.0 0.0))))
; Start
(setf *start* (list -0.5 -0.5))
; Goal
(setf *goal* (list 0.5 0.5))