def __render_arc(self, p1: Point, p2: Point, colour: Colour):
center = p1
radius = 1
dir = p2.to_tensor() - p1.to_tensor()
angle = torch.atan2(dir[1], dir[0])
angle %= 2 * np.pi
self.get_renderer_view().draw_arc(center,
angle,
radius=radius,
colour=colour)
def _get_new_vertex(self, q_near: Vertex, q_sample: Point, max_dist) -> Vertex:
dir = q_sample.to_tensor() - q_near.position.to_tensor()
if torch.norm(dir) <= max_dist:
return Vertex(q_sample)
dir_normalized = dir / torch.norm(dir)
q_new = Point.from_tensor(q_near.position.to_tensor() + max_dist * dir_normalized)
return Vertex(q_new)
