def detect_collision(spec, config):
if test_environment_bounds(config) and test_angle_constraints(config, spec) and \
test_length_constraints(config, spec) and test_grapple_point_constraint(config, spec) and \
test_self_collision(config, spec) and test_obstacle_collision(config, spec, spec.obstacles):
return True
else:
return False
def check_valid(config, spec):
if len(config.points) <= 1:
return True
return (tester.test_angle_constraints(config, spec)
and tester.test_self_collision(config)
and tester.test_obstacle_collision(config, spec, spec.obstacles)
and tester.test_environment_bounds(config))
def config_validity(config: robot_config.RobotConfig,
spec: problem_spec.ProblemSpec):
#tester.test_obstacle_collision(config, spec, spec.obstacles
return (custom_test_obstacle_collision(config, problem, custom_get_lenient_obstacles(spec))\
and tester.test_self_collision(config, spec)\
and tester.test_length_constraints(config, spec)\
and tester.test_angle_constraints(config, spec)\
and tester.test_environment_bounds(config))
def individual_config_collision_checking(spec, config):
# Obstacle Collision - true for pass, false for fail
# Self Collision - return true for pass, false for fail
# Environment Bound - return true for pass, false for fail
# Angle Constraints - true for pass, false for fail
return test_obstacle_collision(
config, spec, spec.obstacles) and test_self_collision(
config, spec) and test_environment_bounds(
config) and test_angle_constraints(config, spec)
def valid_config(config, spec):
"""
#Imported from tester
#Self Collision
#Bound check
#Angle constraints
#Length constraints
#Obstacle collision
"""
if test_self_collision(config, spec) == False:
return False
if test_environment_bounds(config) == False:
return False
if test_angle_constraints(config, spec) == False:
return False
if test_length_constraints(config, spec) == False:
return False
if test_obstacle_collision(config, spec, spec.obstacles) == False:
return False
return True