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modules/toXML.py

@@ -665,25 +665,6 @@ def add_curve(waypoints, pos_source, pos_target, threshold=30):
     return curved_waypoints
 
 
-def check_for_obstacles(waypoints, data, margin=10):
-    """
-    Check if the curved path intersects with any existing elements.
-    """
-    object_boxes = []
-    for idx, element in enumerate(data['boxes']):
-        if idx >= len(data['labels']):
-            continue
-        if data['labels'][idx] <= 12 and data['labels'][idx] != 7 and data['labels'][idx] != 6:
-            object_boxes.append(element)
-
-    for box in object_boxes:
-        x1, y1, x2, y2 = box
-        for point in waypoints:
-            x, y = point
-            if (x1 - margin < x < x2 + margin) and (y1 - margin < y < y2 + margin):
-                return True
-    return False
-
 def calculate_waypoints(data, size, current_idx, source_id, target_id):
     best_points = data['best_points'][current_idx]
     pos_source = best_points[0]