aforechi
diff --git a/‎roboticstoolbox/mobile/Bug2.py
Lines changed: 3 additions & 2 deletions b/‎roboticstoolbox/mobile/Bug2.py
Lines changed: 3 additions & 2 deletions
diff --git a/‎roboticstoolbox/mobile/PlannerBase.py
Lines changed: 9 additions & 7 deletions b/‎roboticstoolbox/mobile/PlannerBase.py
Lines changed: 9 additions & 7 deletions
@@ -9,6 +9,7 @@
 # from spatialmath.pose2d import SE2
 from spatialmath import base
 from spatialmath.base.animate import *
+from spatialmath.base.vectors import *
 from scipy.ndimage import *
 # from matplotlib import cm
 import matplotlib.pyplot as plt
@@ -247,7 +248,7 @@ def next(self, position):
                 self.message(f"  {position}: crossed the M-line")
 
                 # are we closer than when we encountered the obstacle?
-                if base.norm(position - self._goal) < base.norm(self.H[-1] - self._goal):
+                if norm(position - self._goal) < norm(self.H[-1] - self._goal):
                     self._step = 1  # transition to step 1
                     self.message(f"  {position}: change to step 1")
                     return n
@@ -323,7 +324,7 @@ def edgelist(im, p, direction=1):
       IAPR Workshop on Machine Vision Applications Dec. 13-15, 1994, Kawasaki
 
     """
-    p = base.getvector(p, 2, dtype=int)
+    p = getvector(p, 2, dtype=int)
 
     if direction > 0:
         neighbours = np.arange(start=0, stop=8, step=1)
 
@@ -20,6 +20,8 @@
 from roboticstoolbox.mobile.OccGrid import BaseOccupancyGrid, BinaryOccupancyGrid
 from roboticstoolbox.mobile.Animations import VehiclePolygon
 from colored import fg, attr
+from spatialmath.base.graphics import axes_logic
+from spatialmath.base.graphics import plotvol2
 
 try:
     from progress.bar import FillingCirclesBar
@@ -155,7 +157,7 @@ def start(self, start):
         if start is not None:
             if self.isoccupied(start):
                 raise ValueError("Start location inside obstacle")
-            self._start = base.getvector(start)
+            self._start = getvector(start)
 
     @property
     def goal(self):
@@ -185,7 +187,7 @@ def goal(self, goal):
         if goal is not None:
             if self.isoccupied(goal):
                 raise ValueError("Goal location inside obstacle")
-            self._goal = base.getvector(goal)
+            self._goal = getvector(goal)
 
     @property
     def verbose(self):
@@ -323,7 +325,7 @@ def validate_endpoint(self, p, dtype=None):
         :seealso: :meth:`isoccupied` :meth:`occgrid`
         """
         if p is not None:
-            p = base.getvector(p, self._ndims, dtype=dtype)
+            p = getvector(p, self._ndims, dtype=dtype)
             if self.isoccupied(p):
                 raise ValueError("Point is inside obstacle")
         return p
@@ -635,7 +637,7 @@ def plot(
         if configspace and ndims < 3 and path is not None:
             raise ValueError(f"path should have {ndims} rows")
 
-        ax = base.axes_logic(ax, ndims)
+        ax = axes_logic(ax, ndims)
 
         # plot occupancy grid background
         if background:
@@ -734,7 +736,7 @@ def plot(
 
         elif ndims == 2 and self._ndims == 3:
             # 2d projection of 3d plot, show start/goal configuration
-            scale = base.axes_get_scale(ax) / 10
+            scale = axes_get_scale(ax) / 10
 
             if self.marker is None:
                 self.marker = VehiclePolygon(shape="car", scale=scale)
@@ -827,9 +829,9 @@ def plot_bg(
             return
 
         if isinstance(self._occgrid, BaseOccupancyGrid):
-            ax = base.plotvol2(dim=self._oc
5F79
cgrid.workspace, ax=ax)
+            ax = plotvol2(dim=self._occgrid.workspace, ax=ax)
         else:
-            ax = base.axes_logic(ax, 2)
+            ax = axes_logic(ax, 2)
 
         # create color map for free space + obstacle:
         #   free space, color index = 1, white, alpha=0 to allow background and grid lines to show