pyrobosim.utils.polygon.sample_from_polygon
- pyrobosim.utils.polygon.sample_from_polygon(polygon, max_tries=100)
Samples a valid (x, y) tuple that is inside a Shapely polygon. This is done using rejection sampling, in which we sample from the x-y bounds of the polygon and check whether the point is inside the (potentially more complex) polygon geometry.
- Parameters:
polygon (
shapely.geometry.Polygon) – Shapely polygon from which to samplemax_tries (float) – Maximum tries for sampling.
- Returns:
Sampled pose contained within the polygon. If no pose could be found, returns (None, None)
- Return type:
(float, float)