Obstacles¶
Implementation of the polygonal obstacles as well as of the walls
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class
obstacle.Obstacle(map_dimensions, size, nb_pts)[source]¶ Class implementing simple 2D polygonal obstacles.
Attributes: - points : list
List of (x, y) coordinates in the frame of the environnement representing the obstacle.
- bounding_box : 4-tuple
Coordinates of the lower left and upper right corners of the bounding box containing the obstacle.
- center : tuple
Coordinates of the center of the bounding box.
- polygon : shapely.geometry.Polygon
The polygon representing the obstacle.
Methods
plot()Draws the polygon on screen.
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class
obstacle.Wall(width, bottom_y, thickness, moving=False)[source]¶ Class implementing a wall with a moving hole in it
Attributes: - width : float
The total width of the wall.
- bottom_y : float
The position of the bottom of the wall.
- hole : float
The position of the hole in the wall.
- thickness : float
The thickness of the wall.
- speed : float
The speed of the hole, if the obstacles are choosen to be dynamic.
Methods
colides(x, y[, time])Checks if the given point is in the obstacle or not. plot([time, x_scale, y_scale])Draws the wall on screen. visible(view_top, view_bottom)Checks if the wall is in the field of view
