env_generator.py 文件源码

def merge_rectangles_into_obstacles(self, centers, widths, heights, epsilon):
        """Merges rectangles defined by centers, widths, heights. Two rectangles
        with distance < epsilon are considered part of the same object."""

        G = nx.Graph()
        obstacles = {i: Obstacle(centers[i, :], widths[i, 0], heights[i, 0]) for i in range(len(centers))}
        G.add_nodes_from(obstacles.keys())

        for i in obstacles:
            for j in obstacles:
                if i != j and obstacles[i].distance_to_obstacle(obstacles[j]) < epsilon:
                    G.add_edge(i,j)

        merged_obstacles = {}
        conn_components = nx.connected_components(G)
        for cc in conn_components:
            cc = list(cc)
            new_obs = obstacles[cc[0]]
            for i in range(1, len(cc)):
                new_obs.merge(obstacles[cc[i]])

            merged_obstacles[cc[0]] = new_obs

        return merged_obstacles