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+# simu - Robot simulation. {{{
+#
+# Copyright (C) 2009 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.
+#
+# }}}
+"""Table model."""
+
+class Intersect:
+
+ def __init__ (self, obstacle, distance):
+ self.obstacle = obstacle
+ self.distance = distance
+
+class Table:
+
+ def __init__ (self):
+ self.obstacles = [ ]
+
+ def intersect (self, a, b, level = None, comp = None):
+ i = None
+ for o in self.obstacles:
+ if level is None or level == o.level:
+ d = o.intersect (a, b)
+ if d is not None and (i is None or comp (d, i.distance)):
+ i = Intersect (o, d)
+ if comp is None:
+ return i
+ return i
+