def is_free_motion(self, obstacles, x1, x2, resolution = np.pi/6):
pts = path_sample(x1, x2, self.turning_radius, self.turning_radius*resolution)[0]
pts.append(x2)
for i in range(len(pts) - 1):
for line in obstacles:
if line_line_intersection([pts[i][:2], pts[i+1][:2]], line):
return False
return True
def is_free_motion(self, obstacles, x1, x2):
motion = np.array([x1, x2])
# print "motion = ", motion
for line in obstacles:
if line_line_intersection(motion, line):
# print "False"
return False
# print "True"
return True
def is_free_motion(self, obstacles, x1, x2):
motion = np.array([x1, x2])
for line in obstacles:
if line_line_intersection(motion, line):
return False
return True