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
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")
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