示例#1
0
 def check_point(self, point):
     if not self.check_collisions: return True
     for territory in self.land_terrs:
         for tri in territory.triangles:
             if util.point_inside_polygon(point.x, point.y, tri):
                 return False
     return True
示例#2
0
    def maFonction(self, a, b):
        self.mutex.acquire()
        sys.stdout.write("majDistance : mutex Acquire\n")

        prox = 0
        self.distancexy = []
        self.Obstacles = []

        for i, d in enumerate(self.data):
            self.distancexy.append(
                lidarDistance2xy((self.xLidar, self.yLidar),
                                 self.orientationLidar, d, i))

            if d < 400:
                prox = 1

            if point_inside_polygon(self.distancexy[-1], self.LimiteTerrain):
                self.Obstacles.append(self.distancexy[-1])

        self.proximityAlert = prox

        self.mutex.release()
        sys.stdout.write("majDistance : mutex Release\n")
示例#3
0
 def point_inside(self, x, y):
     """Returns True if (x,y) is inside the territory."""
     for tri in self.triangles:
         if util.point_inside_polygon(x, y, tri):
             return True
     return False