def genRandomMap(self):
		# choose no. of obstacles, their centers and sizes
		numObst = np.random.randint(10,15)
		centers = np.random.random(size=[numObst,2])
		centers[:,0] = centers[:,0]*0.6*self.width + 0.2
		centers[:,1] = centers[:,1]*0.6*self.height + 0.2
		sizes = 1+np.random.random(size=[numObst,2])*0.5

		# choose the number of sides
		numSides = np.random.randint(3,10, size = numObst)

		self.polyList = []
		for i in range(numObst):
			# randomly sample points around centers
			numRandPts = 2*numSides[i]
			# print(numRandPts)
			pts = centers[i].reshape((1,2)).repeat(numRandPts, axis = 0) + np.random.random(size = [numRandPts,2])*sizes[i]
			# print(centers[i].reshape((1,2)).repeat(numRandPts, axis = 0).shape, np.random.random(size = [numRandPts,2].shape))
			# print(centers[i].reshape((1,2)).repeat(2, axis = 0)) #np.random.random(size = [numRandPts,2]).shape)
			polygon = convexHull(pts)
			# print(polygon)
			self.polyList.append(polygon)

		# self.start = np.random.random(size=2)
		# self.start[0]*= self.width
		# self.start[1]*= self.height
		# self.goal = np.random.random(size=2)
		# self.goal[0]*= self.width
		# self.goal[1]*= self.height