def geodesic_distance(
self,
position_a: Union[Sequence[float], ndarray],
position_b: Union[Sequence[float], Sequence[Sequence[float]]],
episode: Optional[Episode] = None,
) -> float:
if episode is None or episode._shortest_path_cache is None:
path = habitat_sim.MultiGoalShortestPath()
if isinstance(position_b[0], (Sequence, np.ndarray)):
path.requested_ends = np.array(position_b, dtype=np.float32)
else:
path.requested_ends = np.array(
[np.array(position_b, dtype=np.float32)]
)
else:
path = episode._shortest_path_cache
path.requested_start = np.array(position_a, dtype=np.float32)
self.pathfinder.find_path(path)
if episode is not None:
episode._shortest_path_cache = path
return path.geodesic_distance
def geodesic_distance(self, position_a, position_b):
path = habitat_sim.MultiGoalShortestPath()
path.requested_start = np.array(position_a, dtype=np.float32)
if isinstance(position_b[0], List) or isinstance(
position_b[0], np.ndarray):
path.requested_ends = np.array(position_b, dtype=np.float32)
else:
path.requested_ends = np.array(
[np.array(position_b, dtype=np.float32)])
self._sim.pathfinder.find_path(path)
return path.geodesic_distance
