shift_waypoints_for_map.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "(42978,)\n",
      "(42978, 2)\n"
     ]
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": "<Figure size 432x288 with 1 Axes>"
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "\n",
    "npzfile = np.load(\"map.npz\")\n",
    "x_map = npzfile['arr_0']\n",
    "y_map = npzfile['arr_1']\n",
    "x_center = np.mean(x_map)\n",
    "y_center = np.mean(y_map)\n",
    "waypoints_map = npzfile['arr_2']\n",
    "print(x_map.shape)\n",
    "print(waypoints_map.shape)\n",
    "plt.figure()\n",
    "plt.plot(x_map, y_map, '.')\n",
    "plt.plot(x_center, y_center, '.')\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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f7kfXb1Wwi8jAyKvDMPDhLiIyaLI+gQm6CHczu8nMfm5mj0eWrTazh8xsu5ltNbMTIuvWm9mUme02szOyKlxEZNBEuwxZnsAE3Y3cbwbOjC27Bvicu68GPhPcx8yOBdYAK4PnfMPMRvtWbRfUohER6SLc3f0B4BfxxcC7gtuHAC8Gt88BNrv7Pnd/BpgCTkBERBJlMQ0SoNeGz2XA35vZl2n+gvidYPli4KHI4/YEy1qY2SXAJQDLli3rsQwRkQFQwLk3vR5Q/STwaXdfCnwauDFYnnQcOLFR4u43uPuEu0+MjY31VERWv/FERLJgNts6np7O9rV6DfcLgduD2/+D2dbLHmBp5HFLmG3ZiIgMrfjB1KPqmzJ9vV7D/UXg3wS3TwWeCm7fBawxswPMbDmwAnhkYSX2SJcgEJEh1rHnbmbfAk4BFpnZHuCzwCeAr5lZDXiLoHfu7jvNbAvwBFAHLnX3Rka1z5h2GLWw3qxfTURkHtoMNK8+b1VmL9sx3N39j1JWHZ/y+A3AhoUUNV9XNS7miyM34j7b01LIi0iZJGXS2vdnN5mkEmeobp4+TfPbRaS0wnwKP4bXxMpSJcJdRGRQuDeviZW1gQ/3ttMhdVBVRIrUJoNWL8k2nwY+3JOo3y4iZRE/Bhi2Zu78k5Myfd3KhHv8uu7qwYtImYSZdH59MpfXq0y467ruIlIqCS0Zd3jUj87l5SsR7rV2X4X67iJSkLRp2XlcOqUS4T51deuGUt9dRMoi7Cq8Nn1gbq9ZiXAPNYIL8ajvLiKFSmnJrK7flFsJlQr3FfVNyYF+9ZLcaxGR4VZkSwYqFO5//LtHtiyb2bBvv55vMSIyvGKDyXDA+dh0a0ZlqTLhvu6sY4DZaySrNSMihQgGk/G57R+pfyHXMioT7qGj0lozn1+Uey0iMpzig8tw0JnnGwxVKtzfkTAncua35/S/5FuMiAyflAOpWb8xR5JKhfuuL3wIUGtGRIqTdiA16bhglioV7qHU1oxOaBKRrMTyJcygJ6ePAGaPC+alcuF+7uojWpZF35RWRCQrSRcJO7P+5UJqqVy4f3XNcQC8Mb0/kBDqk4flXJGIVF7KqL2IA6mhyoV7aFX95jnBbgbNu9MFVSQiVZY0ai/iQGqokuEe/paMH1gl/LhxPO+SRKSqSjhqh4qGeyh+YHXmt+pbvyykHhGpprKN2qHC4Z42ep8J+y/lc01lEamwko7aocLhHkoavTvAGz8rqiQRqZAyjtqh4uF+2yd/B2jTe9fMGRHpVcqofd/0KFDsqB0qHu7H/0YzvFNH75o5IyK9+K+HA8mj9mPq/62gouaqdLhDFzNndNaqiMxXYx/ObLCHuXJ942yg+FE7DEG4hxJH7zprVUTmKxwQxiZpNBpwTWMtSw7N76302hmKcE8dvYc0eheRbvzVKqD9QdQH151WRGUthiLcQ0fVN828zyrERu8KeBHp5NXnE9sxb07XgHK0Y0JDE+7hRr+qcTEw+01Re0ZEutKmHbOyfksxNbUxNOEOsGLsIDZPn0aj0byv9oyIdCXIhnbtmDKN2mHIwv3ey08BgvZMJODVnhGRVLd9Apgb7GFevDbdPHhatmCHIQt3mP0mtJ09o4AXkdCOLYl99kYDVtdvIuHdPUuhpGVlK3xDj0Zs9sycgNe1Z0SkTZ89bMdMXV2+UTsMabiHb+ixItaegdi1Z154pJD6RKQEBrDPHjWU4Q5z2zMtAR8+6MbTc69LREogIdjDfHh+ehFQ7mCHLsLdzG4ys5+b2eOx5f/JzHab2U4zuyayfL2ZTQXrzsii6H5pF/Dqv4sMqTbB3mjAKfXrOPQdtYKK6143I/ebgTOjC8zs3wLnAL/t7iuBLwfLjwXWACuD53zDzEb7WXC/zQl4HWAVGW4dgj1sx2z/bKnHrUAX4e7uDwC/iC3+JLDR3fcFj/l5sPwcYLO773P3Z4Ap4IQ+1puJMOBvCC76k3iAVQEvUm1dBnvZ2zGhXnvuRwMnm9nDZvZPZvavguWLgRcij9sTLGthZpeY2VYz27p3794ey+ifc1cfwTWNtTzXaPbTUgN+682F1CciGapYsEPv4V4DDgM+APw5sMXMjMixyIjEk/vd/QZ3n3D3ibGxsR7L6J+vrjmOg/cf5ZT6dbzaaJ6YEA94B/i7T+kNtkWqpILBDr2H+x7gdm96hOa7XiwKli+NPG4J8OLCSszP458/k/1HjdX1mxID3ggC/q1fqk0jUgUVDXboPdzvBE4FMLOjgf2Bl4G7gDVmdoCZLQdWAAM1WfzJDWfxjtoIq+s3zWnRRKdJqg8vUgEVDnbobirkt4AfAL9lZnvM7GLgJuDIYHrkZuDCYBS/E9gCPAF8F7jU3RvZlZ+NXV/4EGMH788p9ev4m/rZLdMjdaBVZMBVPNgBzEtwvduJiQnfunVr0WW02HjPLq5/4GkApmprGQ0mdUZ3hpkz1yZfzb9AEZmfyUMJDwNWIdjNbJu7TyStG9ozVLux7qxj2p/JGh/B60CrSHlNHgL4TJt10IO9E4V7F7oJeB1oFSmpFx5pacPM/NxWNNhB4d61tICf2VlQH16kdCYPmblGVNJo3R1+1ahVLthB4T4v0YB/rrGo84FWnfAkUpzIaB2S2zBHvr2JlfVbMKoV7KADqj05+sp7eDu4EE3HA62gg60ieYr85Zw0Woe5bZirz1vF2vcvy7PCvtEB1T57csNZXH3eKiC9Dx+9rzaNSA4mD5szWk9rw8T764Ma7J1o5L5A4+vuBuaO4EGjeJHc3HIePP09IJjYkPDmGjA31KEabRiN3DMU7cP/S8NS+/BzRvH3fjb/QkWqJpwFEwa7Nyc2RAdWScF+9XmrKhHsnWjk3ifhCB6S+/CgUbxIX9xwKry4beZu0tvghRoN+MPGJI968z2Rqxbq7UbuCvc+SjujFRTyIgsWO3bVLtTdYXp6drS+eskh3PknJ+VRZa4U7jkLR/Fba5/g10bemLMDxg/wzAn5Ey+D0z+XT5EigyI6+yX4r9tQh+qN1qMU7gU4ct3dTAe3p2prGRmZ3SGTdsw5IQ8azctwSxilg0I9TuFeoLRePLQGuoJehlpKoMP8Qv3c1Ufw1TXHZVVlqSjcC3bu1x9k+55mQN9f+1OWjbzcEuBdjeYBDjwM1j2bSZ0iuesy0OPrkkJ97OD9+d9XnZ5FlaWlcC+J6Cj+B7VP8u6RZuAn9eRD7Xb2FhrhyyCIB/rMf+33//B+PNRXjB3EvZef0vcyB4HCvWSiIQ+tPflQUpi3fLss+Y1rRQpzxPFwyfdm76ecoZ32F2paoEenNMJw9NQ7UbiX1DFXfYc369Mz98OQh+Rgbzdy7+rbqF8EUqBuWy7hfQdemF7EKfXr5qxTqM9qF+61vIuRWbu+8KGZ2+Pr7p7zp2Y06CF2xcmY8PrUImWQtJ8m7aOJI3Tgf06v4j/W189Zp0CfP4V7SUR33njQQ2vYh9qFvkje2g00kvbTcFm8jw4K9IVSuJdQPOihdccPpYW+SN66GWhE1yvQs6VwL7m0nb1T6IvkrdNAIynMAX53xSJuufj9GVY2nBTuA2o+I5z47ByRLMxnoKERevYU7kNAP0giw0fdWhGRClK4i4hUkMJdRKSCFO4iIhWkcBcRqSCFu4hIBZXiwmFmthd4rsuHLwJezrCcflO92RmkWkH1ZmmQaoX+1fsb7j6WtKIU4T4fZrY17SpoZaR6szNItYLqzdIg1Qr51Ku2jIhIBSncRUQqaBDD/YaiC5gn1ZudQaoVVG+WBqlWyKHegeu5i4hIZ4M4chcRkQ5KHe5m9iUz+7GZ/cjM7jCzQ4Pl42b2ppltD/5dH3nO8Wa2w8ymzOw6s3zegK5Nraeb2bagpm1mdmrkOfeb2e7I13F4HrW2qzdYtz7YfrvN7IzI8kK2bfDa55vZTjObNrOJyPKPRrbf9mD96mBdIdu3Ta2l22871FvWfTex3mBd6fbdWH3/PbLNnjWz7cHy1H2jZ+5e2n/AB4FacPsvgb8Mbo8Dj6c85xHgX9N8L+jvAB8quNbjgCOC2+8Ffhp5zv3ARMm27bHAD4EDgOXAT4DRIrdt8NrHAL/VbpsBq4Cni96+abWWcb/tUG9Z9920eku577b5Oq4FPtNp3+j1X6lH7u7+D+5eD+4+BCxp93gzew/wLnf/gTe32C3AuRmXCaTX6u6PufuLwfKdwIFmdkAeNbXTZtueA2x2933u/gwwBZxQ5LYN6t3l7rs7POyPgG/lUU87XdY6o6zbtsT7btr2LeW+myT4y+EPyXB/LXW4x1xE8zduaLmZPWZm/2RmJwfLFgN7Io/ZEyzLW7zW0EeAx9x9X2TZN4M/w/5LUX8qMrfexcALkXXhNizLtm3n39P6w1KG7RtV5v22nbLuu1GDtO+eDPzM3Z+KLEvaN3pW+Dsxmdk/Ar+esOpKd/928JgrgTpwa7DuJWCZu/9fMzseuNPMVtL8kyuub9OBeqw1fO5Kmu2PD0YWf9Tdf2pm7wRuAy6gOaoost60bZjptg1q6Vhvm+e+H/iVuz8eWZzZ9u2x1kL2W1jwti3lvpv0tIRluey7c4rorvb4X5mJ+4a7v9ZrHYWHu7v/Xrv1ZnYhcDZwWvAnFcHoYV9we5uZ/QQ4muZv5GjrZgnwIn3SS63B8iXAHcDH3P0nkc/30+Dj62a2CTiBPv6A9FjvHmBp5GHhNsx020LnejtYQ2zUnuX27aXWovbb4PV62rZl3XdTFLbvRnXxc1cD/gA4PvKctH1ja691lLotY2ZnAn8BfNjdfxVZPmZmo8HtI4EVNA+kvQS8bmYfCP5M/BjQdlSSQ62HAncD6939nyPLa2a2KLi9H82QfZycpNUL3AWsMbMDzGw5zW37SJHbthMzGwHOBzZHlhW6fZOUcb9tp6z7bhuDsu/+HvBjd59pFaXtGwt6lX4ene33P5oHRF4Atgf/rg+Wf4TmAZ4fAo8C/y7ynAmaO9pPgK8TnKhVYK1XAW9Elm8HDgcOArYBPwq+lq8RHNkvst5g3ZXB9ttNZFZBUds2eO3zaI7A9gE/A/4+su4U4KHY4wvbvmm1lnG/7VBvWffddvtC6fbdhPpvBv44tix13+j1n85QFRGpoFK3ZUREpDcKdxGRClK4i4hUkMJdRKSCFO4iIhWkcBcRqSCFu4hIBSncRUQq6P8DCF1K1oT6osoAAAAASUVORK5CYII=\n",
      "text/plain": "<Figure size 432x288 with 1 Axes>"
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "from copy import deepcopy\n",
    "x_map_new = deepcopy(x_map)\n",
    "y_map_new = deepcopy(y_map)\n",
    "waypoints_map_new = deepcopy(waypoints_map)\n",
    "for i in range(0, x_map.shape[0]):\n",
    "    direction_vector = np.array([x_center, y_center]) - waypoints_map[i, :]\n",
    "    waypoints_map_new[i, :] = waypoints_map[i, :] + 0.8 * direction_vector / np.linalg.norm(direction_vector)\n",
    "    x_map_new[i] = waypoints_map_new[i, 0]\n",
    "    y_map_new[i] = waypoints_map_new[i, 1]\n",
    "plt.figure()\n",
    "plt.plot(x_map, y_map, '.')\n",
    "plt.plot(x_map_new, y_map_new, '.')\n",
    "np.savez(\"map_shifted_waypoints.npz\", x_map_new, y_map_new, waypoints_map_new)\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3.8.10 64-bit",
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