Function check_collision

mbd/envs/car2d.py:30–32

(x, obs_center, obs_radius)

def check_collision(x, obs_center, obs_radius):
    dist2objs = jnp.linalg.norm(x[:2] - obs_center, axis=1)
    return jnp.any(dist2objs < obs_radius)


@struct.dataclass