| 22 | |
| 23 | |
| 24 | class Rectangle: |
| 25 | |
| 26 | def __init__(self, center: list[float], length: float, width: float, |
| 27 | yaw: float) -> None: |
| 28 | self.center = np.array(center) |
| 29 | self.length = length |
| 30 | self.width = width |
| 31 | self.yaw = yaw |
| 32 | self.rotateMat = self.getRotateMat() |
| 33 | self.iRotate = np.linalg.inv(self.rotateMat) |
| 34 | self.sCorners = self.getSCorners() |
| 35 | self.corners = self.getCorners() |
| 36 | |
| 37 | def getRotateMat(self) -> np.ndarray: |
| 38 | return np.array([[np.cos(self.yaw), -np.sin(self.yaw)], |
| 39 | [np.sin(self.yaw), np.cos(self.yaw)]], |
| 40 | dtype=np.float32) |
| 41 | |
| 42 | # shape corners |
| 43 | def getSCorners(self) -> np.ndarray: |
| 44 | return np.array([[self.length / 2, self.width / 2], |
| 45 | [-self.length / 2, self.width / 2], |
| 46 | [-self.length / 2, -self.width / 2], |
| 47 | [self.length / 2, -self.width / 2]]) |
| 48 | |
| 49 | def getCorners(self) -> np.ndarray: |
| 50 | TRCorners = self.sCorners.T |
| 51 | rotCorners: np.ndarray = np.dot(self.rotateMat, TRCorners) |
| 52 | return rotCorners.T + self.center |
| 53 | |
| 54 | |
| 55 | class RecCollide: |
no outgoing calls
no test coverage detected