#19 Fix example terrain bug

rland93 · May 2, 2022 · 4776942 · 4776942
1 parent 1769e0c
commit 4776942
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/rrtplanner/surface.py b/rrtplanner/surface.py
@@ -93,12 +93,13 @@ def solve(self, verbose=False, solver="ECOS"):
  return self.S.value
 
 
-def example_terrain(xmax, ymax, cols, rows):
+def example_terrain(xmax, ymax, cols, rows, h=30.0):
  X, Y = xy_grid([0, xmax], [0, ymax], [cols, rows])
  H = perlin_terrain(cols, rows, scale=1.0)
  H *= perlin_terrain(cols, rows, scale=2.0)
  H *= perlin_terrain(cols, rows, scale=4.0)
  H = apply_ridge(X, H, steep=5.0, width=1.0, fn="bell")
+ H *= 50.0 / np.ptp(H)
  return X, Y, H
 
 
@@ -119,7 +120,6 @@ def apply_ridge(X, H, steep, width, fn="arctan"):
 
 
 if __name__ == "__main__":
- from oggen import perlin_terrain
  from plots import plot_surface
  from matplotlib.animation import FuncAnimation
 
@@ -138,6 +138,7 @@ def apply_ridge(X, H, steep, width, fn="arctan"):
 
  fig = plt.figure()
  ax = fig.add_subplot(111, projection="3d")
+ print(type(ax))
  plot_surface(ax, X, Y, H, zsquash=zsq, wireframe=False, cmap="gist_earth")
  plt.show()