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Commit f5f434fe authored by rachelmoan's avatar rachelmoan
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add obstacle tolerance to the plan decoupled path function

parent b9759e4a
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......@@ -57,10 +57,10 @@ def initialize_libraries(library_fnames=["guided_mrmp/database/2x3_library","gui
return lib_2x3, lib_3x3, lib_2x5
def plan_decoupled_path(solver_name, start, goal, env, robot_radius,circle_obs, rectangle_obs,vis=False, iter=100):
def plan_decoupled_path(solver_name, start, goal, env, robot_radius,circle_obs, rectangle_obs,vis=False, iter=100, obstacle_tol=0):
x_bounds = env.boundary[0]
y_bounds = env.boundary[1]
space = CircleRectangleObstacleCSpace(x_bounds,y_bounds,robot_radius)
space = CircleRectangleObstacleCSpace(x_bounds,y_bounds,robot_radius,obstacle_tol)
for obs in circle_obs:
space.addObstacle(Circle(obs[0],obs[1],obs[2]))
......
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