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Some code cleanup in MotionPlanner
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ba433822b6
commit
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2 changed files with 36 additions and 28 deletions
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@ -172,4 +172,10 @@ sub split_at_first_point {
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return $self->split_at_index(0);
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}
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sub intersects_line {
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my $self = shift;
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my ($line) = @_;
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return @{Boost::Geometry::Utils::polygon_multi_linestring_intersection([$self], [$line])} > 0;
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}
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1;
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