How to run Fields2Cover ? about fields2cover HOT 1 CLOSED

import fields2cover as f2c

rand = f2c.Random(42)
robot = f2c.Robot(2.0, 6.0)
robot.setMinRadius(2)  # m
robot.linear_curv_change = 0.1  # 1/m^2

const_hl = f2c.HG_Const_gen()
field = rand.generateRandField(5, 1e4)
cells = field.field
no_hl = const_hl.generateHeadlands(cells, 3.0 * robot.robot_width)
bf = f2c.SG_BruteForce()
swaths = bf.generateSwaths(math.pi, robot.op_width, no_hl.getGeometry(0))
snake_sorter = f2c.RP_Snake()
swaths = snake_sorter.genSortedSwaths(swaths)
path_planner = f2c.PP_PathPlanning()
dubins_cc = f2c.PP_DubinsCurvesCC();
path_dubins_cc = path_planner.searchBestPath(robot, swaths, dubins_cc);

f2c.Visualizer.figure();
f2c.Visualizer.plot(cells);
f2c.Visualizer.plot(no_hl);
f2c.Visualizer.plot(path_dubins_cc);
f2c.Visualizer.plot(swaths);
f2c.Visualizer.show();