def corners()

in metropolis/utils/data_classes.py [0:0]

• 12 lines of code
• 1 McCabe index (conditional complexity)

    def corners(self, lwh_factor: float = 1.0) -> np.ndarray:
        """Returns the bounding box corners.

        Args:
            lwh_factor: Multiply l, w, h by a factor to scale the box.

        Returns:
            First four corners are the ones facing forward. The last four are the
            ones facing backwards.
        """
        l, w, h = self.lwh * lwh_factor

        # 3D bounding box corners. (Convention: x points right, y to the front, z up.)
        y_corners = l / 2 * np.array([1, 1, 1, 1, -1, -1, -1, -1])
        x_corners = w / 2 * np.array([-1, 1, 1, -1, -1, 1, 1, -1])
        z_corners = h / 2 * np.array([1, 1, -1, -1, 1, 1, -1, -1])
        corners = np.vstack((x_corners, y_corners, z_corners))

        # Rotate
        corners = np.dot(self.orientation.rotation_matrix, corners)

        # Translate
        x, y, z = self.center
        corners[0, :] = corners[0, :] + x
        corners[1, :] = corners[1, :] + y
        corners[2, :] = corners[2, :] + z

        return corners