From 4b6e62cabea4a42e07e15d38c71cd44863f311ef Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Tue, 14 Mar 2023 09:34:33 +0100
Subject: [PATCH 1/1] Add gen obst at procedure

---
 scripts/generate_simple_json_scenario.py | 27 ++++++++++++++++++++++++
 1 file changed, 27 insertions(+)

diff --git a/scripts/generate_simple_json_scenario.py b/scripts/generate_simple_json_scenario.py
index d6d3359..da1a483 100644
--- a/scripts/generate_simple_json_scenario.py
+++ b/scripts/generate_simple_json_scenario.py
@@ -134,6 +134,33 @@ def gen_slot(l=5.3, w=2.4):
         ]
 
 
+def gen_obst_at(x, y, h):
+    """Generate obstacle at specific coordinates."""
+    length = 0.5
+    width = 0.5
+    return [
+        [
+            x + width/2 * cos(h - pi/2) + length/2 * cos(h),
+            y + width/2 * sin(h - pi/2) + length/2 * sin(h),
+        ],
+        [
+            x + width/2 * cos(h - pi/2) - length/2 * cos(h),
+            y + width/2 * sin(h - pi/2) - length/2 * sin(h),
+        ],
+        [
+            x + width/2 * cos(h + pi/2) - length/2 * cos(h),
+            y + width/2 * sin(h + pi/2) - length/2 * sin(h),
+        ],
+        [
+            x + width/2 * cos(h + pi/2) + length/2 * cos(h),
+            y + width/2 * sin(h + pi/2) + length/2 * sin(h),
+        ],
+        [
+            x + width/2 * cos(h - pi/2) + length/2 * cos(h),
+            y + width/2 * sin(h - pi/2) + length/2 * sin(h),
+        ]]
+
+
 def gen_obst():
     """Generate obstacles array."""
     obstacles = []
-- 
2.39.2