def METHOD_NAME(self, ox, oy):
    self.minx = round(min(ox))
    self.miny = round(min(oy))
    self.maxx = round(max(ox))
    self.maxy = round(max(oy))
    print("min_x:", self.minx)
    print("min_y:", self.miny)
    print("max_x:", self.maxx)
    print("max_y:", self.maxy)
    self.xwidth = round((self.maxx - self.minx) / self.reso)
    self.ywidth = round((self.maxy - self.miny) / self.reso)
    print("x_width:", self.xwidth)
    print("y_width:", self.ywidth)
    # obstacle map generation
    self.obmap = [[False for _ in range(self.ywidth)]
                  for _ in range(self.xwidth)]
    for ix in range(self.xwidth):
        x = self.calc_grid_position(ix, self.minx)
        for iy in range(self.ywidth):
            y = self.calc_grid_position(iy, self.miny)
            for iox, ioy in zip(ox, oy):
                d = math.hypot(iox - x, ioy - y)
                if d <= self.rr:
                    self.obmap[ix][iy] = True
                    break