Add more scerarios to gen scenario script

[hubacji1/iamcar2.git] / scripts / gen_scenario.py

diff --git a/scripts/gen_scenario.py b/scripts/gen_scenario.py
index e23875d651cb827e1313f59802cff0a8679a8531..60421656f1546f775e2bc58f9fbe50abe91451d3 100755 (executable)
--- a/scripts/gen_scenario.py
+++ b/scripts/gen_scenario.py
@@ -133,6 +133,72 @@ def random_obstacles():
 
 
 SCENARIOS = {
+    "pe07": {
+        "init": [0, 0, 0],
+        "slot": gen_slot_at(10, 0 - 5, 0, False),
+        "obst": [gen_obst_at(*p) for p in [
+            [8, 2.5 - 5, 0], [6, 2.5 - 5, 0],
+            [10.25, 1.5 - 5, 0], [10.25, -1.5 - 5, 0]]]},
+    "pe06": {
+        "init": [0, 0, 0],
+        "slot": gen_slot_at(10, 0 + 5, 0, False),
+        "obst": [gen_obst_at(*p) for p in [
+            [8, 2.5 + 5, 0], [6, 2.5 + 5, 0],
+            [10.25, 1.5 + 5, 0], [10.25, -1.5 + 5, 0]]]},
+    "pe05": {
+        "init": [0, 0, 0],
+        "slot": gen_slot_at(10, 0, 0, False),
+        "obst": [gen_obst_at(*p) for p in [
+            [8, 2.5, 0], [6, 2.5, 0],
+            [10.25, 1.5, 0], [10.25, -1.5, 0]]]},
+    "pe04": {
+        "init": [0, 0, 0],
+        "slot": gen_slot_at(10, 0, 0, False),
+        "obst": [gen_obst_at(*p) for p in [
+            [10.25, 1.5, 0], [10.25, -1.5, 0]]]},
+    "pe03": {
+        "init": [0, 0, 0],
+        "slot": gen_slot_at(15, 0, pi/2, False),
+        "obst": [gen_obst_at(*p) for p in [
+            [13.5, 0.25, 0], [16.5, 0.25, 0],
+            [12.5, -2.5, 0], [17.5, -2.5, 0]]]},
+    "pe02": {
+        "init": [0, 0, 0],
+        "slot": gen_slot_at(15, 0, pi/2, False),
+        "obst": [gen_obst_at(*p) for p in [
+            [13.5, 0.25, 0], [16.5, 0.25, 0],
+            [13.5, -5, 0], [16.5, -5, 0]]]},
+    "pe01": {
+        "init": [0, 0, 0],
+        "slot": gen_slot_at(15, 0, pi/2, False),
+        "obst": [gen_obst_at(*p) for p in [
+            [13.5, 0.25, 0], [16.5, 0.25, 0],
+            [15, -5, 0]]]},
+    "pa05": {
+        "init": [0, 0, 0],
+        "slot": gen_slot_at(12, 2, -pi/2, True),
+        "obst": [gen_obst_at(*p) for p in [
+                [7, 0, 0], [7, 2, 0], [7, 4, 0], [7, -2, 0],
+                [9, -2, 0], [11, -2, 0]]]},
+    "pa04": {
+        "init": [0, 0, 0],
+        "slot": gen_slot_at(12, -2, -pi/2, True),
+        "obst": [gen_obst_at(*p) for p in [
+                [7, -2, 0], [7, -4, 0], [7, -6, 0], [9, -6, 0], [11, -6, 0],
+                [7, -2, 0], [11, 0, 0], [15, 0, 0], [19, 0, 0],
+                [7, 3, 0], [11, 5, 0], [15, 3, 0], [19, 3, 0]]]},
+    "pa03": {
+        "init": [0, 0, 0],
+        "slot": gen_slot_at(15, 0, 0, True),
+        "obst": [gen_obst_at(*p) for p in [
+            [15.25, -3.5, 0], [15.25, 3.5, 0],
+            [7.5, 2.5, 0], [10, -2.5, 0], [12.5, 0, 0]]]},
+    "pa02": {
+        "init": [0, 0, 0],
+        "slot": gen_slot_at(15, 0, 0, True),
+        "obst": [gen_obst_at(*p) for p in [
+            [15.25, -3.5, 0], [15.25, 3.5, 0],
+            [10, 5, 0], [10, 0, 0], [12.5, 0, 0]]]},
     "pa01": {
         "init": [0, 0, 0],
         "slot": gen_slot_at(15, 0, 0, True),