#
# Copyright (c) Simon Kohaut, Honda Research Institute Europe GmbH, Felix Divo, and contributors
#
# This file is part of ProMis and licensed under the BSD 3-Clause License.
# You should have received a copy of the BSD 3-Clause License along with ProMis.
# If not, see https://opensource.org/license/bsd-3-clause/.
#
# Third Party
from shapely.strtree import STRtree
from shapely import LineString, Geometry
from numpy import array, sin, cos, deg2rad
# ProMis
from promis.geo import CartesianLocation, CartesianMap
from .relation import Relation
[docs]
class Enters(Relation):
"""A probabilistic relation that checks if a point to point transition "enters" a map feature.
This relation is true if a given location is outside but transitions into
any of the geometries of a specific type on the map. The probability is derived from a set of sample maps.
"""
[docs]
@staticmethod
def compute_relation(
location: CartesianLocation, transition_location: CartesianLocation, r_tree: STRtree, original_geometries: CartesianMap, **kwargs
) -> float:
starts_outside = r_tree.query(location.geometry, predicate="within").size == 0
if starts_outside:
ends_within = r_tree.query(transition_location.geometry, predicate="within").size > 0
return ends_within
else:
return False
[docs]
@staticmethod
def empty_map_parameters() -> list[float]:
return [0.0, 0.0]
[docs]
@staticmethod
def arity() -> int:
return 2