def withinPoly(polygons, point):
    for poly in polygons:
        patch = createPolygonPatch(poly, 'grey')
        if(patch.contains_point(point)):
            return True
    return False

def RRT(robot, obstacles, startPoint, goalPoint):

    points = dict()
    tree = dict()
    path = []

    for i in range(0,50):
        x = random.uniform(0,10)
        y = random.uniform(0,10)
        if(withinPoly(obstacles,[x,y])):
            print("within polygon ",x, y)
        else:
            #points.append([x,y])
            points[i] = [x,y]
    print(len(points))
    points, adjListMap = growSimpleRRT(points)
    path = basicSearch(adjListMap, 1, 10)
    displayRRTandPath(points, adjListMap, path, startPoint, goalPoint, obstacles)