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<!doctype html>
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<title>spatial.geometry API documentation</title>
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<article id="content">
<header>
<h1 class="title">Module <code>spatial.geometry</code></h1>
</header>
<section id="section-intro">
<details class="source">
<summary>
<span>Expand source code</span>
</summary>
<pre><code class="python">from abc import *
from collections import OrderedDict
from enum import Enum
from typing import Set
import matplotlib.patches as mp
import matplotlib.pyplot as plt
import numpy as np
import shapely.affinity as af
import shapely.geometry as sh
_DEBUG = False
class IColor(Enum):
N = 0
R = 1
G = 2
B = 3
class SpatialInterface(ABC):
"""
Interface for spatial relation logic. All objects need to provide a quantitative semantic.
"""
@abstractmethod
def shapes(self) -> set:
"""
Returns the shapes stored in the SpatialInterface object
Returns: The shapes of the SpatialInterface object
"""
pass
@abstractmethod
def distance(self, other: 'SpatialInterface') -> float:
"""
Returns the signed distance to another spatial interface object
Args:
other: The other spatial interface object
Returns: Distance (squared) to other object
"""
pass
@abstractmethod
def overlap(self, other: 'SpatialInterface') -> float:
"""
Computes if this object overlaps with another object
Args:
other: The other object
Returns: >=0 if both objects overlap and <0 otherwise
"""
pass
@abstractmethod
def enclosed_in(self, other: 'SpatialInterface') -> float:
"""
Computes if this objects is enclosed in another object. If any this object is a collection, every object
must be enclosed in an object of other
Args:
other: The other object
Returns: >=0 if this object is enclosed in the other object and <0 otherwise
"""
pass
@abstractmethod
def proximity(self, other: 'SpatialInterface', eps: float) -> bool:
"""
Computes if this objects is in proximity to another object
Args:
other: The other object
eps: Specification of proximity
Returns: >=0 if objects are in proximity and <0 otherwise
"""
pass
@abstractmethod
def distance_compare(self, other: 'SpatialInterface', eps: float, fun) -> bool:
"""
Compares the distance between two objects and a target value (e.g., a dist b <= eps)
Args:
other: The other object
eps: The target value
fun: The function for comparing (<=,>=,==)
Returns: >=0 if predicate is true and <0 otherwise
"""
pass
@abstractmethod
def touching(self, other: 'SpatialInterface') -> bool:
"""
Computes if two objects are touching
Args:
other: The other object
Returns:
"""
pass
@abstractmethod
def angle(self, other: 'SpatialInterface') -> bool:
"""
Computes the angle between to objects
Args:
other: The other object
Returns: NOT YET IMPLEMENTED / USED
"""
pass
@abstractmethod
def above(self, other: 'SpatialInterface') -> bool:
"""
Computes if this object is above another object
Args:
other: The other object
Returns: >= 0 if this object is above the other object and <0 otherwise
"""
pass
@abstractmethod
def below(self, other: 'SpatialInterface') -> bool:
"""
Computes if this object is below another object
Args:
other: The other object
Returns: >= 0 if this object is below the other object and <0 otherwise
"""
pass
@abstractmethod
def left_of(self, other: 'SpatialInterface') -> bool:
"""
Computes if this object is left of another object
Args:
other: The other object
Returns: >= 0 if this object is left of the other object and <0 otherwise
"""
pass
@abstractmethod
def right_of(self, other: 'SpatialInterface') -> bool:
"""
Computes if this object is right of another object
Args:
other: The other object
Returns: >= 0 if this object is right of the other object and <0 otherwise
"""
pass
@abstractmethod
def close_to(self, other: 'SpatialInterface') -> bool:
"""
Computes if this object is close to another object
Args:
other: The other object
Returns: >= 0 if this object is close to the other object and <0 otherwise
"""
pass
@abstractmethod
def far_from(self, other: 'SpatialInterface') -> bool:
"""
Computes if this object is far from another object
Args:
other: The other object
Returns: >= 0 if this object is far from the other object and <0 otherwise
"""
pass
@abstractmethod
def closer_to_than(self, closer: 'SpatialInterface', than: 'SpatialInterface') -> bool:
"""
Computes if this object is closer to one object than another
Args:
closer: The object that should be closer
than: The object that should be further away
Returns: >= 0 if this object is closer to one object than another and <0 otherwise
"""
pass
@abstractmethod
def enlarge(self, radius: float) -> 'SpatialInterface':
"""
Enlarges an object with a given radius
Args:
radius: The radius for enlarging the object
Returns: The enlarged object
"""
pass
@abstractmethod
def __or__(self, other: 'SpatialInterface'):
pass
@abstractmethod
def __sub__(self, other: 'SpatialInterface'):
pass
class ObjectInTime(ABC):
"""
Interface for an object changing with time.
"""
@abstractmethod
def getObject(self, time) -> 'SpatialInterface':
"""
Returns the object at the given time point
"""
pass
@abstractmethod
def getObjectByIndex(self, idx: int) -> 'SpatialInterface':
"""
Returns the object at the given time point (given as index)
Args:
idx: The index of the time step
Returns:
"""
pass
class DynamicObject(ObjectInTime):
def __init__(self):
self._shapes = OrderedDict() # compatible with all Python versions, preserves insertion order
self._latest_time = None
def addObject(self, object: SpatialInterface, time: int):
if self._latest_time is None:
self._latest_time = time - 1
assert time not in self._shapes, '<DynamicObject/add>: time step already added! t={}'.format(time)
assert time == self._latest_time + 1, '<DynamicObject/add>: time step missing! t = {}'.format(time)
self._shapes[time] = object
self._latest_time = time
def getObject(self, time) -> 'SpatialInterface':
assert time in self._shapes, '<DynamicObject/add>: time step not yet added! t={}'.format(time)
return self._shapes[time]
def getObjectByIndex(self, idx: int) -> 'SpatialInterface':
assert idx < len(self._shapes) if idx >= 0 else abs(idx) <= len(self._shapes)
return list(self._shapes.values())[idx]
def __or__(self, other):
if isinstance(other, (StaticObject, DynamicObject)):
return ObjectCollection(self, other)
elif isinstance(other, ObjectCollection):
return other + self
else:
raise Exception('<DynamicObject/add>: Provided object not supported! other = {}'.format(other))
class StaticObject(ObjectInTime):
"""
An SpatialInterface object static in time. The simplest implementation of ObjectInTime
"""
def __init__(self, spatial_object: SpatialInterface):
super().__init__()
self._spatial_obj = spatial_object
def getObject(self, time) -> 'SpatialInterface':
return self._spatial_obj
def getObjectByIndex(self, idx: int) -> 'SpatialInterface':
return self._spatial_obj
def __or__(self, other):
if isinstance(other, (StaticObject, DynamicObject)):
return ObjectCollection(self, other)
elif isinstance(other, ObjectCollection):
return other + self
else:
raise Exception('<DynamicObject/add>: Provided object not supported! other = {}'.format(other))
class ObjectCollection(ObjectInTime):
def __init__(self, *args):
self._object_set = set(args)
def getObject(self, time) -> 'SpatialInterface':
objs = [o.getObject(time) for o in self._object_set]
shapes = [o.shapes() for o in objs]
shapes = shapes[0].union(*shapes[1:])
assert len(objs) > 0
return type(objs[0])(shapes)
def getObjectByIndex(self, idx: int) -> 'SpatialInterface':
objs = [o.getObjectByIndex(idx) for o in self._object_set]
shapes = [o.shapes for o in objs]
shapes = shapes[0].union(*shapes[1:])
assert len(objs) > 0
return type(objs[0])(shapes)
def __len__(self):
return len(self._object_set)
@property
def objects(self):
return self._object_set
def __or__(self, other):
collection = ObjectCollection()
if isinstance(other, ObjectCollection):
collection._object_set = self._object_set | other._object_set
elif isinstance(other, (StaticObject, DynamicObject)):
collection._object_set = self._object_set | {other}
else:
raise Exception('<ObjectCollection/add>: Provided object not supported! other = {}'.format(other))
return collection
def __sub__(self, other):
collection = ObjectCollection()
if isinstance(other, ObjectCollection):
collection._object_set = self._object_set - other._object_set
elif isinstance(other, (StaticObject, DynamicObject)):
collection._object_set = self._object_set - {other}
else:
raise Exception('<ObjectCollection/add>: Provided object not supported! other = {}'.format(other))
return collection
def __and__(self, other):
collection = ObjectCollection()
if isinstance(other, ObjectCollection):
collection._object_set = self._object_set & other._object_set
elif isinstance(other, (StaticObject, DynamicObject)):
collection._object_set = self._object_set & {other}
else:
raise Exception('<ObjectCollection/add>: Provided object not supported! other = {}'.format(other))
return collection
class Polygon(object):
"""
Class representing a polygon
"""
_id = 0
_ORIGIN = sh.Point([0, 0]) # origin for penetration depth computation
# _MinkowskiDiff = lambda a, b: sh.Polygon(np.vstack(np.repeat([a],len(b),axis=0)-b)).convex_hull
_MinkowskiDiff = lambda a, b: sh.Polygon(np.vstack([a - v for v in b])).convex_hull
@classmethod
def _get_id(cls):
cls._id += 1
return cls._id
def __init__(self, vertices: np.ndarray, color: IColor = IColor.N, convex_hull: bool = True):
"""
Initializes a polygon object
Args:
vertices: The vertices of the polygon
color: The color of the polygon. Default = IColor.N
convex_hull: bool to set if convex hull should be computed. Default = True
"""
assert isinstance(vertices, np.ndarray), '<Polygon/init>: vertices must be of type np.ndarray!'
if convex_hull:
self.shape = sh.Polygon(vertices).convex_hull
else:
self.shape = sh.Polygon(vertices)
self.color = color
self.id = self._get_id()
@property
def shape(self) -> sh.Polygon:
"""
Returns the shapely polygon object of this polygon
Returns: Shapely polygon
"""
return self._shape
@shape.setter
def shape(self, shape: sh.Polygon):
"""
Sets the shapely polygon of this polygon
Args:
shape: The new shapely polygon
"""
assert isinstance(shape, sh.Polygon), '<Polygon/shape>: Only shapely polygons are supported'
self._shape = shape
@property
def vertices(self) -> np.ndarray:
"""
Returns the vertices of the polygon
Returns: The vertices of the polygon as a numpy array
"""
return np.array(self.shape.exterior.coords)
@property
def center(self) -> np.ndarray:
"""
Returns the geometric center of the polygon
Returns: Geometric center of the polygon as a numpy array
"""
return np.array(self.shape.centroid)
def enlarge(self, radius: float) -> 'Polygon':
enlarged = self.shape.buffer(radius)
return Polygon(np.array(enlarged.exterior.coords))
def translate(self, t: np.ndarray):
"""
Translates the polygon by the given translation vector
Args:
t: Translation vector as numpy array with shape (2x1)
Returns: Translated version of this polygon (no copy)
"""
assert len(t) == 2
self.shape = af.translate(self.shape, t[0], t[1])
return self
def rotate(self, theta: float, from_origin: bool = True, use_radians=False):
"""
Rotates the polygon around its center (of its bounding box)
Args:
theta: The angle of the rotation
from_origin: currently not used
use_radians: True if angle is given in radian
Returns: Rotated version of this polygon (no copy)
"""
self.shape = af.rotate(self.shape, theta, origin='center', use_radians=use_radians)
return self
def distance(self, other: 'Polygon'):
"""
Computes the distance to another polygon object
Args:
other: The other polygon object
Returns: The distance (>=0) between this and the other object
"""
return self.shape.distance(other.shape)
def penetration_depth(self, other: 'Polygon'):
"""
Computes the penetration depth with another polygon object
Args:
other: The other polygon object
Returns: The penetration depth (>=0) between this and the other object.
Zero if no intersection between the objects.
"""
# return Polygon._MinkowskiDiff(np.asarray(self.shape.exterior.coords),
# np.asarray(other.shape.exterior.coords)).exterior.distance(self._ORIGIN)
return self._penetration_depth(np.asarray(self.shape.exterior.coords), np.asarray(other.shape.exterior.coords))
def _penetration_depth(self, vert1: np.ndarray, vert2: np.ndarray):
return Polygon._MinkowskiDiff(vert1, vert2).exterior.distance(self._ORIGIN)
def signed_distance(self, other: 'Polygon'):
"""
Computes the signed distance of this polygon to another one
Args:
other: The other polygon
Returns: The signed distance between the two polygons (<= 0 if touching/intersection, >0 if no penetration)
"""
gjk = self.distance(other)
return gjk - self.penetration_depth(other) if gjk <= 0.0000001 else gjk
def enclosedIn(self, other: 'Polygon'):
"""
Computes if this polygon is enclosed in another polygon (i.e., all vertices are have negative signed distance)
Args:
other: The superset polygon
Returns: >=0 if this polygon is enclosed in the other polygon, <0 otherwise
"""
sd = -np.inf
o = np.array(other.shape.exterior.coords)
for v in self.vertices:
gjk = other.shape.distance(sh.Point(v))
sd_c = gjk - self._penetration_depth(v, o) if gjk < 0.0000001 else gjk
if sd_c > sd:
sd = sd_c
return -sd if not np.isclose(sd, 0) else sd
def contains_point(self, point: np.ndarray):
"""
Checks whether a given point is enclosed in the polygon
Args:
point: The point to check
Returns: True if the point is enclosed in the polygon and False otherwise
"""
return self.shape.contains(sh.Point(point))
@property
def color(self) -> IColor:
"""
Color of polygon
Returns: Color of polygon
"""
return self._color
@color.setter
def color(self, color: IColor):
"""
Color of polygon
Args:
color: New color of circle
"""
self._color = color
def plot(self, ax=None, alpha=1.0, label: bool = True, color='k'):
"""
Plots the polygon
Args:
ax: The axis object to plot to (if provided)
alpha: The alpha value of the circle
label: bool to indicate whether to plot label
"""
if ax is None:
ax = plt.gca()
ax.add_patch(
mp.Polygon(self.vertices, color=color, alpha=alpha))
if label:
plt.text(self.center[0], self.center[1], s=str(self.id), c='white', bbox=dict(facecolor='white', alpha=0.5))
def minkowski_sum(self, other: 'Polygon', sub: bool = False) -> 'Polygon':
new_vertices = list()
for v in other.vertices:
if not sub:
new_vertices.append(self.vertices + (v - other.center))
else:
new_vertices.append(self.vertices - (v - other.center))
return Polygon(np.vstack(new_vertices))
def __add__(self, other):
return self.minkowski_sum(other)
def __sub__(self, other):
return self.minkowski_sum(other, sub=True)
def __hash__(self):
return self.id
class Circle(Polygon):
def __init__(self, center: np.ndarray, r: float):
# approximate circle
vertices = np.array(sh.Point(center).buffer(r).exterior)
super().__init__(vertices, convex_hull=False)
class PolygonCollection(SpatialInterface):
"""
Implements spatial interface for objects of type polytope. Represents set of polytopes
"""
def __init__(self, polygons: Set[Polygon]):
"""
Initializes a circle collection with a set of circles
Args:
circles: Set of circles
"""
self.polygons = polygons if isinstance(polygons, set) else set(polygons)
@property
def polygons(self) -> Set[Polygon]:
"""
Set of polygons
Returns: set of polytopes
"""
return self._polygons
@polygons.setter
def polygons(self, polygons: Set[Polygon]):
"""
Set of polygons
Args:
polygons: new set of polytopes
Returns:
"""
self._polygons = polygons
def add(self, p: Polygon):
"""
Adds a polygons object to this collection
Args:
p: The polygons to add
"""
self.polygons.add(p)
def remove(self, p: Polygon):
"""
Removes a polygons from this collection
Args:
p: The polygons to remove
"""
self.polygons.discard(p)
def shapes(self) -> set:
return self.polygons
def of_color(self, color: IColor) -> 'PolygoneCollection':
"""
Returns a polygons collection containing polytopes of the specified color
Args:
color: The specified color
Returns: polygons collection containing polytopes of specific color
"""
return PolygonCollection(set([p for p in self.polygons if p.color == color]))
def plot(self, ax=None, color='k', label=True):
"""
Draws all polygons in this collection
Args:
ax: The axis object to plot to
label: bool to indicate whether to plot labels
Returns:
"""
if ax is None:
ax = plt.gca()
for p in self.polygons:
p.plot(ax=ax, label=label, color=color)
plt.autoscale()
plt.axis('equal')
def distance(self, other: 'SpatialInterface') -> float:
assert isinstance(other, PolygonCollection), \
'<Polygon/distance>: Other object must be of type polygon, got {}'.format(other)
# compute distances
result = list()
for p in self.polygons:
result.append([p.signed_distance(o) for o in other.polygons])
return result
def overlap(self, other: 'SpatialInterface') -> bool:
# intersection polygons
inter = list()
for p in self.polygons:
inter.append([-p.signed_distance(o) for o in other.polygons])
inter = np.array(inter)
return np.max(inter)
def enclosed_in(self, other: 'SpatialInterface') -> float:
enclosed = list()
for p in self.polygons:
enclosed.append(np.array([p.enclosedIn(o) for o in other.polygons]).max())
return np.array(enclosed).min()
def proximity(self, other: 'SpatialInterface', eps: float) -> bool:
return self.distance_compare(other, eps, np.less_equal)
def distance_compare(self, other: 'SpatialInterface', eps: float, fun):
assert np.positive(eps), '<Polygon>: Epsilon must be positive, got {}'.format(eps)
# compute result
if fun == np.less_equal:
return np.max(np.repeat(eps, len(other.polygons)) - self.distance(other))
if fun == np.greater_equal:
return np.max(self.distance(other) - np.repeat(eps, len(other.polygons)))
if fun == np.equal:
return np.min([np.max(np.repeat(eps, len(other.polygons)) - self.distance(other)),
np.max(self.distance(other) - np.repeat(eps, len(other.polygons)))])
def touching(self, other: 'SpatialInterface', eps: float = 5) -> bool:
return self.proximity(other, eps=eps)
return np.min([self.proximity(other, eps=eps), -self.proximity(other, eps=-eps)])
def _min(self, axis: int) -> float:
"""
Returns the minimum value of the projection of all polygons to the specified axis
Args:
axis: The specified axis
Returns: The minimum value along the specified axis
"""
return np.min([c.center[axis] for c in self.polygons])
def _max(self, axis: int) -> float:
"""
Returns the maximum value of the projection of all polygons to the specified axis
Args:
axis: The specified axis
Returns: The maximum value along the specified axis
"""
return np.max([c.center[axis] for c in self.polygons])
def left_of(self, other: 'SpatialInterface') -> float:
return other._min(0) - self._max(0)
def right_of(self, other: 'SpatialInterface') -> float:
return self._min(0) - other._max(0)
def above(self, other: 'SpatialInterface') -> float:
return self._min(1) - other._max(1)
def below(self, other: 'SpatialInterface') -> float:
return other._min(1) - self._max(1)
def close_to(self, other: 'SpatialInterface') -> float:
return self.proximity(other, 70.)
def far_from(self, other: 'SpatialInterface') -> float:
return -self.proximity(other, 150)
def closer_to_than(self, closer: 'SpatialInterface', than: 'SpatialInterface') -> float:
return np.min(self.distance(than)) - np.min(self.distance(closer))
def enlarge(self, radius: float) -> 'SpatialInterface':
return PolygonCollection(set([p.enlarge(radius) for p in self.polygons]))
def angle(self, other: 'CircleOLD') -> float:
pass
def __or__(self, other: 'PolytopeCollection'):
return PolygonCollection(self.polygons | other.polygons)
def __sub__(self, other: 'PolytopeCollection'):
return PolygonCollection(self.polygons - other.polygons)
if __name__ == '__main__':
p1 = Polygon(np.array([[0, 0], [3, 3], [6, 0]]))
p2 = Polygon(np.array([[3, 5], [7, 8], [10, 6]]))
p2 = p2.rotate(30.45)
p3 = Polygon(np.array([[3, 5], [7, 8], [10, 6]]) - 4, IColor.B)
p_sum = p1.minkowski_sum(p2)
(p1 + p2).plot(color='r')
(p1 - p2).plot(color='g')
plt.autoscale()
plt.show()
print(p1)
p1.plot()
p2.plot()
p3.plot()
plt.autoscale()
plt.show()
import time
a = sh.Polygon(p1.vertices)
b = sh.Polygon(p2.vertices)
print('Area is {}'.format(a.area))
print('Distance is {}'.format(a.distance(b)))
t0 = time.time()
for i in range(100):
a.distance(b)
print(f'Time took {time.time() - t0}')
pc = PolygonCollection(set([p1, p2]))
pd = PolygonCollection(set([p3]))
t0 = time.time()
print('Distance is {}'.format(pc.distance(pd)))
print('Distance is {}'.format(pc.distance(pc)))
print('Intersecting is {}'.format(pc.overlap(pd)))
print('Intersecting is {}'.format(pc.overlap(pc)))
print(f'Time took {time.time() - t0}')
t0 = time.time()
for i in range(1):
pc.distance(pc)
# p1.intersect(p2).volume
print(f'Time took for 10 {time.time() - t0}')</code></pre>
</details>
</section>
<section>
</section>
<section>
</section>
<section>
</section>
<section>
<h2 class="section-title" id="header-classes">Classes</h2>
<dl>
<dt id="spatial.geometry.Circle"><code class="flex name class">
<span>class <span class="ident">Circle</span></span>
<span>(</span><span>center: numpy.ndarray, r: float)</span>
</code></dt>
<dd>
<div class="desc"><p>Class representing a polygon</p>
<p>Initializes a polygon object</p>
<h2 id="args">Args</h2>
<dl>
<dt><strong><code>vertices</code></strong></dt>
<dd>The vertices of the polygon</dd>
<dt><strong><code>color</code></strong></dt>
<dd>The color of the polygon. Default = IColor.N</dd>
<dt><strong><code>convex_hull</code></strong></dt>
<dd>bool to set if convex hull should be computed. Default = True</dd>
</dl></div>
<details class="source">
<summary>
<span>Expand source code</span>
</summary>
<pre><code class="python">class Circle(Polygon):
def __init__(self, center: np.ndarray, r: float):
# approximate circle
vertices = np.array(sh.Point(center).buffer(r).exterior)
super().__init__(vertices, convex_hull=False)</code></pre>
</details>
<h3>Ancestors</h3>
<ul class="hlist">
<li><a title="spatial.geometry.Polygon" href="#spatial.geometry.Polygon">Polygon</a></li>
</ul>
<h3>Inherited members</h3>
<ul class="hlist">
<li><code><b><a title="spatial.geometry.Polygon" href="#spatial.geometry.Polygon">Polygon</a></b></code>:
<ul class="hlist">
<li><code><a title="spatial.geometry.Polygon.center" href="#spatial.geometry.Polygon.center">center</a></code></li>
<li><code><a title="spatial.geometry.Polygon.color" href="#spatial.geometry.Polygon.color">color</a></code></li>
<li><code><a title="spatial.geometry.Polygon.contains_point" href="#spatial.geometry.Polygon.contains_point">contains_point</a></code></li>
<li><code><a title="spatial.geometry.Polygon.distance" href="#spatial.geometry.Polygon.distance">distance</a></code></li>
<li><code><a title="spatial.geometry.Polygon.enclosedIn" href="#spatial.geometry.Polygon.enclosedIn">enclosedIn</a></code></li>
<li><code><a title="spatial.geometry.Polygon.penetration_depth" href="#spatial.geometry.Polygon.penetration_depth">penetration_depth</a></code></li>
<li><code><a title="spatial.geometry.Polygon.plot" href="#spatial.geometry.Polygon.plot">plot</a></code></li>
<li><code><a title="spatial.geometry.Polygon.rotate" href="#spatial.geometry.Polygon.rotate">rotate</a></code></li>
<li><code><a title="spatial.geometry.Polygon.shape" href="#spatial.geometry.Polygon.shape">shape</a></code></li>
<li><code><a title="spatial.geometry.Polygon.signed_distance" href="#spatial.geometry.Polygon.signed_distance">signed_distance</a></code></li>
<li><code><a title="spatial.geometry.Polygon.translate" href="#spatial.geometry.Polygon.translate">translate</a></code></li>
<li><code><a title="spatial.geometry.Polygon.vertices" href="#spatial.geometry.Polygon.vertices">vertices</a></code></li>
</ul>
</li>
</ul>
</dd>
<dt id="spatial.geometry.DynamicObject"><code class="flex name class">
<span>class <span class="ident">DynamicObject</span></span>
</code></dt>
<dd>
<div class="desc"><p>Interface for an object changing with time.</p></div>
<details class="source">
<summary>
<span>Expand source code</span>
</summary>
<pre><code class="python">class DynamicObject(ObjectInTime):
def __init__(self):
self._shapes = OrderedDict() # compatible with all Python versions, preserves insertion order
self._latest_time = None
def addObject(self, object: SpatialInterface, time: int):
if self._latest_time is None:
self._latest_time = time - 1
assert time not in self._shapes, '<DynamicObject/add>: time step already added! t={}'.format(time)
assert time == self._latest_time + 1, '<DynamicObject/add>: time step missing! t = {}'.format(time)
self._shapes[time] = object
self._latest_time = time
def getObject(self, time) -> 'SpatialInterface':
assert time in self._shapes, '<DynamicObject/add>: time step not yet added! t={}'.format(time)
return self._shapes[time]
def getObjectByIndex(self, idx: int) -> 'SpatialInterface':
assert idx < len(self._shapes) if idx >= 0 else abs(idx) <= len(self._shapes)
return list(self._shapes.values())[idx]
def __or__(self, other):
if isinstance(other, (StaticObject, DynamicObject)):
return ObjectCollection(self, other)
elif isinstance(other, ObjectCollection):
return other + self
else:
raise Exception('<DynamicObject/add>: Provided object not supported! other = {}'.format(other))</code></pre>
</details>
<h3>Ancestors</h3>
<ul class="hlist">
<li><a title="spatial.geometry.ObjectInTime" href="#spatial.geometry.ObjectInTime">ObjectInTime</a></li>
<li>abc.ABC</li>
</ul>
<h3>Methods</h3>
<dl>
<dt id="spatial.geometry.DynamicObject.addObject"><code class="name flex">
<span>def <span class="ident">addObject</span></span>(<span>self, object: <a title="spatial.geometry.SpatialInterface" href="#spatial.geometry.SpatialInterface">SpatialInterface</a>, time: int)</span>
</code></dt>
<dd>
<div class="desc"></div>
<details class="source">
<summary>
<span>Expand source code</span>
</summary>
<pre><code class="python">def addObject(self, object: SpatialInterface, time: int):
if self._latest_time is None:
self._latest_time = time - 1
assert time not in self._shapes, '<DynamicObject/add>: time step already added! t={}'.format(time)
assert time == self._latest_time + 1, '<DynamicObject/add>: time step missing! t = {}'.format(time)
self._shapes[time] = object
self._latest_time = time</code></pre>
</details>
</dd>
</dl>
<h3>Inherited members</h3>
<ul class="hlist">
<li><code><b><a title="spatial.geometry.ObjectInTime" href="#spatial.geometry.ObjectInTime">ObjectInTime</a></b></code>:
<ul class="hlist">
<li><code><a title="spatial.geometry.ObjectInTime.getObject" href="#spatial.geometry.ObjectInTime.getObject">getObject</a></code></li>
<li><code><a title="spatial.geometry.ObjectInTime.getObjectByIndex" href="#spatial.geometry.ObjectInTime.getObjectByIndex">getObjectByIndex</a></code></li>
</ul>
</li>
</ul>
</dd>