Hi !
For a robotics simulation, I need to calculate the distance that an
ultrasound sensor would measure (=> distance to the closest obstacle).
Here's the code I'm using to do so (knowing that what's in "self.shapes"
has been parsed from an SVG file and is mainly ellipses):
def RayDistance(self, x, y, headingAngle):
>
> ray = Ray(Point(x,y), angle=headingAngle)
>>
> minDist = None
>
> for shape in self.shapes:
>
> intersections = ray.intersection(shape)
>
> for intersection in intersections:
>
> distance = intersection.distance(ray.source)
>
> print "Shape {} ; Intersection {} ; Distance {}".format(shape,
>> intersection, distance)
>
> if minDist == None:
>
> minDist = distance
>
> elif distance < minDist:
>
> minDist = distance
>
> return minDist
>
>
Doing this is extremely slow, even with just 3 shapes. If I go up to 200
shapes, I only get about 1 frame per second. And I only detectect a
collision from time to time (especially if I slightly change my heading
angle while facing a same obstacle).
For instance, I'm using Qt for the visualisation and my "headingAngle" is
in radians and ccw (0 being horizantal, headed to the positive x), my
coordinates are floats and using the graphical reference system (=>
positive Xs to the "right" and positive Ys to the bottom)
It's my first experience with Sympy, so I may just be using the wrong tools
for what I'm trying to do.
Thank you in advance!
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