Add example scenarios

diff --git a/exsc.json b/exsc.json
new file mode 100644 (file)
index 0000000..c28e5f5
--- /dev/null
+++ b/exsc.json
@@ -0,0 +1,55 @@
+{
+        "init": [0, 1, 1.5707963267948966],
+        "goal": [3.5, 13, 1.5707963267948966],
+        "obst": [
+                {"circle": [4.5, 11, 0.5]},
+                {"circle": [3, 11, 0.5]},
+                {"segment": [[0, 10], [0, 14]]},
+                {"segment": [[2, 14], [-2, 14]]},
+                {"segment": [[-2, 14], [-2, 16]]},
+                {"segment": [[2, 14], [2, 16]]},
+
+                {"nosegment": [[-5, 20], [-4, 20]]},
+                {"nosegment": [[-4, 20], [-4, 21]]},
+                {"nosegment": [[-4, 21], [-3, 21]]},
+                {"nosegment": [[-3, 21], [-3,22]]},
+                {"nosegment": [[-3, 22], [-2, 22]]},
+                {"nosegment": [[-2, 22], [-2, 23]]},
+                {"nosegment": [[-2, 23], [-1, 23]]},
+                {"nosegment": [[-1, 23], [-1, 24]]},
+                {"nosegment": [[-1, 24], [0, 24]]},
+                {"nosegment": [[0, 24], [0, 25]]},
+                {"nosegment": [[0, 25], [-3, 25]]},
+                {"nosegment": [[-3, 25], [-5, 22]]},
+                {"nosegment": [[-5, 22], [-5, 20]]},
+
+                {"nosegment": [[1, 24], [5, 22]]},
+                {"nosegment": [[5, 22], [5, 25]]},
+                {"nosegment": [[5, 25], [1, 24]]},
+
+                {
+                        "segment": [
+                                [-5.3, 0],
+                                [-5.3, 26]
+                        ]
+                },
+                {
+                        "segment": [
+                                [-5.3, 26],
+                                [5.5, 26]
+                        ]
+                },
+                {
+                        "segment": [
+                                [5.5, 26],
+                                [5.5, 0]
+                        ]
+                },
+                {
+                        "segment": [
+                                [5.5, 0],
+                                [-5.3, 0]
+                        ]
+                }
+        ]
+}

diff --git a/wo1.json b/wo1.json
new file mode 100644 (file)
index 0000000..79febb1
--- /dev/null
+++ b/wo1.json
@@ -0,0 +1,79 @@
+{
+        "init": [1.1, 6.5, 1.5707963267948966],
+        "goal": [-1.1, 14.37, 1.5707963267948966],
+        "obst": [
+                {"circle": [0.45, 14.62, 0.25]},
+                {
+                        "nosegment": [
+                                [0.2, 14.37],
+                                [0.7, 14.37]
+                        ]
+                },
+                {
+                        "nosegment": [
+                                [0.7, 14.37],
+                                [0.7, 14.87]
+                        ]
+                },
+                {
+                        "nosegment": [
+                                [0.7, 14.87],
+                                [0.2, 14.87]
+                        ]
+                },
+                {
+                        "nosegment": [
+                                [0.2, 14.87],
+                                [0.2, 14.37]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 2],
+                                [0, 13]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 13],
+                                [-2.2, 13]
+                        ]
+                },
+                {
+                        "segment": [
+                                [-2.2, 13],
+                                [-2.2, 19.5]
+                        ]
+                },
+                {
+                        "segment": [
+                                [-2.2, 19.5],
+                                [0, 19.5]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 19.5],
+                                [0, 26]
+                        ]
+                },
+                {
+                        "segment": [
+                                [2.75, 2],
+                                [2.75, 26]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 2],
+                                [2.75, 2]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 26],
+                                [2.75, 26]
+                        ]
+                }
+        ]
+}

diff --git a/wo2.json b/wo2.json
new file mode 100644 (file)
index 0000000..01cc5cb
--- /dev/null
+++ b/wo2.json
@@ -0,0 +1,79 @@
+{
+        "init": [1.1, 6.5, 1.5707963267948966],
+        "goal": [-1.1, 14.37, 1.5707963267948966],
+        "obst": [
+                {"circle": [1.5, 16.25, 0.25]},
+                {
+                        "nosegment": [
+                                [0.2, 14.37],
+                                [0.7, 14.37]
+                        ]
+                },
+                {
+                        "nosegment": [
+                                [0.7, 14.37],
+                                [0.7, 14.87]
+                        ]
+                },
+                {
+                        "nosegment": [
+                                [0.7, 14.87],
+                                [0.2, 14.87]
+                        ]
+                },
+                {
+                        "nosegment": [
+                                [0.2, 14.87],
+                                [0.2, 14.37]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 2],
+                                [0, 13]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 13],
+                                [-2.2, 13]
+                        ]
+                },
+                {
+                        "segment": [
+                                [-2.2, 13],
+                                [-2.2, 19.5]
+                        ]
+                },
+                {
+                        "segment": [
+                                [-2.2, 19.5],
+                                [0, 19.5]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 19.5],
+                                [0, 26]
+                        ]
+                },
+                {
+                        "segment": [
+                                [2.75, 2],
+                                [2.75, 26]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 2],
+                                [2.75, 2]
+                        ]
+                },
+                {
+                        "segment": [
+                                [0, 26],
+                                [2.75, 26]
+                        ]
+                }
+        ]
+}