scene_service.geometry

Geometry helpers shared by Scene room rendering and navigation.

Functions

disc_inside_polygon(x, y, radius, points[, ...])	Require a circular robot footprint, not just its centre, inside a room.
point_in_polygon(x, y, points)	Return whether a point lies inside a polygon using even-odd crossings.
polygon_centroid(points)	Return the area-weighted centroid of a non-self-intersecting polygon.

scene_service.geometry.disc_inside_polygon(x: float, y: float, radius: float, points: Sequence[tuple[float, float]], samples: int = 16) → bool

Require a circular robot footprint, not just its centre, inside a room.

scene_service.geometry.point_in_polygon(x: float, y: float, points: Sequence[tuple[float, float]]) → bool

Return whether a point lies inside a polygon using even-odd crossings.

scene_service.geometry.polygon_centroid(points: Sequence[tuple[float, float]]) → tuple[float, float]

Return the area-weighted centroid of a non-self-intersecting polygon.