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authorNicolas Schodet2012-03-21 00:46:03 +0100
committerNicolas Schodet2012-03-21 18:56:51 +0100
commit1e7c8a8a9811c45091e6c471482086113f059f40 (patch)
treed7faa80dd162799c394ec23925cc53b6dbff008e /host/simu/model/rectangular_obstacle.py
parent0feb542a8cf7630a5d442387727414f5251aad83 (diff)
parentdcb79f383269440ec2c5a54b6d7792fbb0110d5a (diff)
Merge branch 'master' into efrei-robotique
Conflicts: digital/mimot/src/dirty/aux.c digital/mimot/src/dirty/aux.h digital/mimot/src/dirty/contacts.h digital/mimot/src/dirty/main.c digital/mimot/src/dirty/models.host.c digital/mimot/src/dirty/twi_proto.c digital/mimot/tools/mimot/init.py
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+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2011 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 rectangular shape."""
+from utils.observable import Observable
+from simu.utils.vector import vector
+from math import pi
+import simu.utils.intersect
+
+class RectangularObstacle (Observable):
+
+ def __init__ (self, dim, level = 0):
+ Observable.__init__ (self)
+ self.pos = None
+ self.angle = 0
+ self.dim = dim
+ self.level = level
+
+ 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 rectangle segments. There is at most
+ # two intersections, return the nearest.
+ u = vector.polar (self.angle, self.dim[0] / 2.)
+ v = vector.polar (self.angle + pi / 2, self.dim[1] / 2.)
+ o = vector (self.pos)
+ p1 = o + u + v
+ p2 = o - u + v
+ p3 = o - u - v
+ p4 = o + u - v
+ found = None
+ for c, d in ((p1, p2), (p2, p3), (p3, p4), (p4, p1)):
+ 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
+