Input

Input is read from a space delimited text file, selected using menu item File | Calculate

Specified obstacle locations

The first line must contain

format obs

The second line specifies the the rectangular grid size, and the radius of the robot's coverage

nx ny radius

The remaining lines specify the grid locations of obstacles

x y

Example

format obs
20 20 2
4 4
5 5
6 6
14 8
14 9
14 10
14 11
14 12
14 13
14 14
14 15
10 15
11 15
12 15
13 15
4 14
4 15
5 15

Regularly spaced obstacle locations

The first line must contain

format farm

The second line specifies the grid size. The obstacles will be placed 2 grid points apart, with room for the robot to pass between

nx ny

Example

format farm
50 50

Regularly spaced obstacles in irregular shaped fields

The first line must contain

format farm

The remaining lines specify the vertices of a polygon shaped field

p x y1

Example

format farm
p 0 0
p 0 50
p 50 30
p 50 10
p 0 0