本文整理汇总了Python中Polygon.covers方法的典型用法代码示例。如果您正苦于以下问题：Python Polygon.covers方法的具体用法？Python Polygon.covers怎么用？Python Polygon.covers使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类Polygon的用法示例。
在下文中一共展示了Polygon.covers方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: __init__
# 需要导入模块: import Polygon [as 别名]
# 或者: from Polygon import covers [as 别名]
#.........这里部分代码省略.........
#calculate the vector to follow the obstacle
normal = mat([pose[0],pose[1]] - pt)
#find the distance from the closest point
distance = norm(normal)
velocity = normal * self.trans_matrix
vx = (velocity/norm(velocity)/3)[0,0]
vy = (velocity/norm(velocity)/3)[0,1]
# push or pull the robot towards the obstacle depending on whether the robot is close or far from the obstacle.
turn = pi/4*(distance-0.5*self.obsRange)/(self.obsRange) ### 5
corr_matrix = mat([[cos(turn),-sin(turn)],[sin(turn),cos(turn)]])
v = corr_matrix*mat([[vx],[vy]])
vx = v[0,0]
vy = v[1,0]
##plotting overlap on figure 2
if self.PLOT_OVERLAP == True:
plt.figure(self.overlap_figure)
plt.clf()
self.plotPoly(self.m_line,'b');
self.plotPoly(overlap,'r');
plt.plot(vx,vy,'ko')
plt.plot(pt[0],pt[1],'ro')
plt.plot(pose[0],pose[1],'bo')
self.plotPioneer(self.overlap_figure,1)
## conditions that the loop will end
#for 11111
RobotPoly = Circle(self.PioneerLengthHalf+0.06,(pose[0],pose[1])) ####0.05
arrived = self.nextRegionPoly.covers(self.realRobot)
#for 33333
reachMLine= self.m_line.overlaps(RobotPoly)
# 1.reached the next region
if arrived:
self.boundary_following = False
self.q_hit_count = 0
print "arriving at the next region. Exit boundary following mode"
vx = 0
vy = 0
"""
# 2.q_hit is reencountered
elif norm(self.q_hit-mat([pose[0],pose[1]]).T) < 0.05 and self.q_hit_count > self.q_hit_Thres:
print "reencounter q_hit. cannot reach q_goal"
vx = 0
vy = 0
"""
# 3.m-line reencountered
elif reachMLine:
print >>sys.__stdout__, "m-line overlaps RoboPoly, m-line" + str(norm(self.q_g-self.q_hit)-2*self.obsRange) + " distance: " + str(norm(self.q_g-mat([pose[0],pose[1]]).T))
if norm(self.q_g-mat([pose[0],pose[1]]).T) < norm(self.q_g-self.q_hit)-2*self.obsRange:
print "m-line overlaps RoboPoly, m-line" + str(norm(self.q_g-self.q_hit)-2*self.obsRange) + " distance: " + str(norm(self.q_g-mat([pose[0],pose[1]]).T))
print "leaving boundary following mode"
self.boundary_following = False
self.q_hit_count = 0
leaving = False
# turn the robot till it is facing the goal
while not leaving: