def METHOD_NAME():
    print(__file__ + " start!!")
    # start and goal position
    sx = 10.0  # [m]
    sy = 10.0  # [m]
    gx = 50.0  # [m]
    gy = 50.0  # [m]
    robot_size = 5.0  # [m]
    ox = []
    oy = []
    for i in range(60):
        ox.append(i)
        oy.append(0.0)
    for i in range(60):
        ox.append(60.0)
        oy.append(i)
    for i in range(61):
        ox.append(i)
        oy.append(60.0)
    for i in range(61):
        ox.append(0.0)
        oy.append(i)
    for i in range(40):
        ox.append(20.0)
        oy.append(i)
    for i in range(40):
        ox.append(40.0)
        oy.append(60.0 - i)
    if show_animation:  # pragma: no cover
        plt.plot(ox, oy, ".k")
        plt.plot(sx, sy, "^r")
        plt.plot(gx, gy, "^c")
        plt.grid(True)
        plt.axis("equal")
    rx, ry = VoronoiRoadMapPlanner().planning(sx, sy, gx, gy, ox, oy,
                                              robot_size)
    assert rx, 'Cannot found path'
    if show_animation:  # pragma: no cover
        plt.plot(rx, ry, "-r")
        plt.pause(0.1)
        plt.show()