robokudo.utils.math_helper
==========================

.. py:module:: robokudo.utils.math_helper


Functions
---------

.. autoapisummary::

   robokudo.utils.math_helper.intersection_point
   robokudo.utils.math_helper.distance
   robokudo.utils.math_helper.intersecting_spheres
   robokudo.utils.math_helper.does_line_intersect_sphere


Module Contents
---------------

.. py:function:: intersection_point(P1, P2, t)

   Calculate the intersection point based on t value.


.. py:function:: distance(point1, point2)

   Calculate the Euclidean distance between two points.


.. py:function:: intersecting_spheres(P1, P2, spheres)

   Check where the first intersection between the line segment described by P1 and P2
   and the spheres in our parameters happens.

   spheres must be a list of triples (name, center, radius)

   Returns a list of tuples: (dist to P1, name, Center, radius, first_intersection_from_P1))


.. py:function:: does_line_intersect_sphere(P1, P2, C, r)