def define_relations(self, map_bounds=None, pose=None):
"""Create a multimodal softmax model of spatial relationships.
Defaults to: 'Front', 'Back', 'Left', and 'Right'.
"""
if self.container_area is None or self.ignoring_containers:
container_poly = None
else:
container_poly = Polygon(self.container_area.shape)
# If not rectangular, approx. with rectangular
shape = self.shape
self.relations = binary_intrinsic_space_model(
shape, container_poly=container_poly, bounds=map_bounds)
brm = binary_range_model(shape, bounds=map_bounds)
self.relations.binary_models['Near'] = brm.binary_models['Near']
def define_relations(self, map_bounds=None):
"""Create a multimodal softmax model of spatial relationships.
Defaults to: 'Inside', 'Near', and 'Outside'.
"""
self.relations = binary_range_model(self.shape, bounds=map_bounds)