def remove_short_lines(line):
if line.type == 'MultiLineString':
passing_lines = []
for i, linestring in enumerate(line):
other_lines = MultiLineString(
[x for j, x in enumerate(line) if j != i])
p0 = Point(linestring.coords[0])
p1 = Point(linestring.coords[-1])
is_deadend = False
if p0.disjoint(other_lines): is_deadend = True
if p1.disjoint(other_lines): is_deadend = True
if not is_deadend or linestring.length > 5:
passing_lines.append(linestring)
return MultiLineString(passing_lines)
if line.type == 'LineString':
return line
def test_binary_predicates(self):
point = Point(0.0, 0.0)
self.assertTrue(point.disjoint(Point(-1.0, -1.0)))
self.assertFalse(point.touches(Point(-1.0, -1.0)))
self.assertFalse(point.crosses(Point(-1.0, -1.0)))
self.assertFalse(point.within(Point(-1.0, -1.0)))
self.assertFalse(point.contains(Point(-1.0, -1.0)))
self.assertFalse(point.equals(Point(-1.0, -1.0)))
self.assertFalse(point.touches(Point(-1.0, -1.0)))
self.assertTrue(point.equals(Point(0.0, 0.0)))
def test_binary_predicates(self):
point = Point(0.0, 0.0)
self.assertTrue(point.disjoint(Point(-1.0, -1.0)))
self.assertFalse(point.touches(Point(-1.0, -1.0)))
self.assertFalse(point.crosses(Point(-1.0, -1.0)))
self.assertFalse(point.within(Point(-1.0, -1.0)))
self.assertFalse(point.contains(Point(-1.0, -1.0)))
self.assertFalse(point.equals(Point(-1.0, -1.0)))
self.assertFalse(point.touches(Point(-1.0, -1.0)))
self.assertTrue(point.equals(Point(0.0, 0.0)))
def is_timed_free(self, edge, t_node):
if not self.is_obstacle_free(edge):
return False
t = 0
t_time = 3 * self.step / self.v
for path in self.paths:
t = 0
for i, p in enumerate(path):
if i == len(path) - 1:
break
p1 = Point(p[0], p[1])
p2 = Point(path[i + 1][0], path[i + 1][1])
p4 = Point(edge[0][0], edge[0][1])
line = LineString([p, path[i + 1]]).buffer(self.width)
dist = p1.distance(p2)
edge_line = LineString(edge).buffer(self.width)
if edge_line.intersects(line):
inter_point = edge_line.intersection(line)
# print(type(inter_point))
# print(inter_point)
x = []
y = []
if isinstance(inter_point, (Point, LineString)):
x, y = inter_point.coords.xy
elif isinstance(inter_point, (MultiPoint)):
x, y = [(p.x, p.y) for p in inter_point]
else:
x, y = inter_point.exterior.coords.xy
# print(x, y)
if not x and not y:
continue
for i in range(0, len(x)):
p3 = Point(x[i], y[i])
time_edge_inter = round(
t_node[1] - ((p4.distance(p3)) / self.v), 2)
time_path_inter = round(
(t + (p1.disjoint(p3)) / self.v), 2)
time_diff = abs(time_edge_inter - time_path_inter)
if time_diff < t_time:
return False
t += round(dist / self.v, 2)
return True