**diff options**

Diffstat (limited to 'host/simu/model/polygonal_obstacle.py')

-rw-r--r-- | host/simu/model/polygonal_obstacle.py | 69 |

1 files changed, 69 insertions, 0 deletions

diff --git a/host/simu/model/polygonal_obstacle.py b/host/simu/model/polygonal_obstacle.py new file mode 100644 index 00000000..10b976c4 --- /dev/null +++ b/host/simu/model/polygonal_obstacle.py @@ -0,0 +1,69 @@ +# simu - Robot simulation. {{{ +# +# Copyright (C) 2012 Nicolas Schodet +# +# APBTeam: +# Web: http://apbteam.org/ +# Email: team AT apbteam DOT org +# +# This program is free software; you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation; either version 2 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program; if not, write to the Free Software +# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. +# +# }}} +"""Obstacle with a polygonal shape.""" +from utils.observable import Observable +from simu.utils.vector import vector +from simu.utils.trans_matrix import TransMatrix +from math import pi +import simu.utils.intersect + +class PolygonalObstacle (Observable): + + def __init__ (self, *points, **kwargs): + Observable.__init__ (self) + self.pos = None + self.angle = 0 + self.points = points + self.level = 0 + for i in kwargs: + if i == 'level': + self.level = kwargs[i] + else: + raise TypeError ("unexpected keyword argument") + + def intersect (self, a, b): + """If the segment [AB] intersects the obstacle, return distance from a + to intersection point, else, return None.""" + if self.pos is None or self.angle is None: + return None + # Find intersection with each segments. Return the nearest. + m = TransMatrix () + m.translate (self.pos) + m.rotate (self.angle) + p = m.apply (*self.points) + found = None + def iter_seg (p): + for i in xrange (len (p) - 1): + yield p[i], p[i + 1] + yield p[-1], p[0] + for c, d in iter_seg (p): + i = simu.utils.intersect.segment_segment (a, b, c, d) + if i is not None: + if found is not None: + found = min (found, i) + break + else: + found = i + return found + |