def valid(self, p, q):
p, q = np.asarray(p), np.asarray(q)
assert p.shape == q.shape
if p.shape == ():
return self.valid([p], [q])[0]
i = intersects(p, q, self.goal[0], self.goal[1])
op = orient(self.goal[0], self.goal[1], p)
oq = orient(self.goal[0], self.goal[1], q)
r = np.ones(p.shape, dtype=np.bool)
r[i & (op >= oq)] = False
i2 = intersects(self.obstacle_p, self.obstacle_q, p, q)
i2 = i2.any(axis=tuple(range(self.obstacle_p.ndim)))
r[i2] = False
return r
def valid(self, p, q):
p, q = np.asarray(p), np.asarray(q)
assert p.shape == q.shape
if p.shape == ():
return self.valid([p], [q])[0]
i = intersects(p, q, self.goal[0], self.goal[1])
op = orient(self.goal[0], self.goal[1], p)
oq = orient(self.goal[0], self.goal[1], q)
r = np.ones(p.shape, dtype=np.bool)
r[i & (op >= oq)] = False
i2 = intersects(self.obstacle_p, self.obstacle_q, p, q)
i2 = i2.any(axis=tuple(range(self.obstacle_p.ndim)))
r[i2] = False
return r
def win(self, p, q):
p, q = np.asarray(p), np.asarray(q)
assert p.shape == q.shape
if p.shape == ():
return self.win([p], [q])[0]
r = np.zeros(p.shape, dtype=np.bool)
i = intersects(p, q, self.goal[0], self.goal[1])
op = orient(self.goal[0], self.goal[1], p)
oq = orient(self.goal[0], self.goal[1], q)
r[i & (-1 == op) & (op < oq)] = True
r[p == q] = False
return r
def win(self, p, q):
p, q = np.asarray(p), np.asarray(q)
assert p.shape == q.shape
if p.shape == ():
return self.win([p], [q])[0]
r = np.zeros(p.shape, dtype=np.bool)
i = intersects(p, q, self.goal[0], self.goal[1])
op = orient(self.goal[0], self.goal[1], p)
oq = orient(self.goal[0], self.goal[1], q)
r[i & (-1 == op) & (op < oq)] = True
r[p == q] = False
return r