using SpanningTreeCoverage

area = read_area("map1")

plot_area(area)

new_area = subdivide_area(area)

plot_area(new_area)

obstacle_nodes = calculate_obstacle_nodes(area)

mst = calculate_mst(size(area), obstacle_nodes)

p = plot_area(new_area)
plot_mst!(p, size(area), obstacle_nodes, mst)

guide = calculate_guide(size(area), obstacle_nodes, mst)

p = plot_area(new_area)
plot_guide!(p, guide)

path = calculate_circumnavigation_path(new_area, guide)

p = plot_area(new_area)
plot_guide!(p, guide)
plot_path!(p, path)

p = plot_area(new_area)
plot_path!(p, path)