def test_adjacent_rectangles(self):
start1, end1 = self.rec1
start2, end2 = self.rec3
assert ft.rectangles_intersect(start1,
end1,
start2,
end2,
open_sets=False)
assert not ft.rectangles_intersect(
start1, end1, start2, end2, open_sets=True)
def crosses_obstacle(self, obstacle, open_sets=False):
"""
Checks whether the line crosses the rectangular obstacle.
Novel implementation based on hyperplanes and other linear algebra (*proud*)
:param obstacle: The rectangular obstacle under consideration
:param open_sets: Whether it counts as an intersection
if the line passes inside of the obstacle (open_sets = True)
or also counts when it passes through the obstacle boundary (open_sets = False)
:return: True if line crosses obstacle, false otherwise
"""
line_array = np.array([self.begin, self.end])
rect_array = np.array(
[[np.min(line_array[:, 0]),
np.min(line_array[:, 1])],
[np.max(line_array[:, 0]),
np.max(line_array[:, 1])]])
obs_array = np.array([obstacle.begin.array, obstacle.end.array])
intersects = ft.rectangles_intersect(rect_array[0], rect_array[1],
obs_array[0], obs_array[1],
open_sets)
if not intersects:
return False
f = ft.get_hyperplane_functional(line_array[0], line_array[1])
obs_points = np.array([point.array for point in obstacle.corner_list])
point_result = f(obs_points[:, 0], obs_points[:, 1])
if np.sum(np.sign(point_result)) in [-4, 4]:
return False
else:
return True
def test_non_overlapping_rectangles(self):
start1, end1 = self.rec3
start2, end2 = self.rec5
assert not ft.rectangles_intersect(start1, end1, start2, end2)
def test_unorderable_rectangles(self):
start1, end1 = self.rec1
start2, end2 = self.rec5
start3, end3 = self.rec6
assert ft.rectangles_intersect(start1, end1, start2, end2)
assert ft.rectangles_intersect(start1, end1, start3, end3)
def test_containing_rectangles(self):
start1, end1 = self.rec1
start2, end2 = self.rec4
assert ft.rectangles_intersect(start1, end1, start2, end2)
def test_adjacent_rectangles(self):
start1, end1 = self.rec1
start2, end2 = self.rec3
assert ft.rectangles_intersect(start1, end1, start2, end2, open_sets=False)
assert not ft.rectangles_intersect(start1, end1, start2, end2, open_sets=True)
def test_overlapping_rectangles(self):
start1, end1 = self.rec1
start2, end2 = self.rec2
assert ft.rectangles_intersect(start1, end1, start2, end2)
def test_non_overlapping_rectangles(self):
start1, end1 = self.rec3
start2, end2 = self.rec5
assert not ft.rectangles_intersect(start1, end1, start2, end2)
def test_unorderable_rectangles(self):
start1, end1 = self.rec1
start2, end2 = self.rec5
start3, end3 = self.rec6
assert ft.rectangles_intersect(start1, end1, start2, end2)
assert ft.rectangles_intersect(start1, end1, start3, end3)
def test_containing_rectangles(self):
start1, end1 = self.rec1
start2, end2 = self.rec4
assert ft.rectangles_intersect(start1, end1, start2, end2)
def test_overlapping_rectangles(self):
start1, end1 = self.rec1
start2, end2 = self.rec2
assert ft.rectangles_intersect(start1, end1, start2, end2)
