def make_graph(cd, milestones, nn):
g = PrmGraph(milestones)
for milestone in milestones:
p = milestone.point
nearest = nn.neighbors_in_radius(p, Config.connection_radius)
for neighbor in nearest:
if neighbor == p:
continue
edge = KER.Segment_2(KER.Point_2(p[0], p[1]),
KER.Point_2(neighbor[0], neighbor[1]))
if cd.is_edge_valid(edge):
g.insert_edge(milestone, neighbor)
return g
def tuples_list_to_polygon_2(lst):
lst0 = []
for tuple in lst:
lst0.append(KER.Point_2(tuple[0], tuple[1]))
p = POL2.Polygon_2(lst0)
if p.is_clockwise_oriented(): p.reverse_orientation()
return p
def coords_list_to_polygon_2(lst):
lst0 = []
for i in range(len(lst) // 2):
lst0.append(KER.Point_2(lst[2 * i], lst[2 * i + 1]))
p = POL2.Polygon_2(lst0)
if p.is_clockwise_oriented(): p.reverse_orientation()
return p
def point_d_to_point_2(x):
return KER.Point_2(x[0], x[1])
def xy_to_point_2(x, y):
return KER.Point_2(x, y)