private ITrapezoidalMap GenerateTrapezoidalMap(IEnumerable <SimplePolygon> obstacles)
{
var edges = from obstacle in obstacles
from edge in obstacle.Edges
select edge;
var segments = from edge in edges
select new Segment(edge.Origin.Position, edge.End.Position);
TrapezoidalMap.TrapezoidalMap trapezoidalMap = new TrapezoidalMap.TrapezoidalMap(segments.ToList());
// must handle empty case
return(trapezoidalMap);
}
private ITrapezoidalMap GenerateTrapezoidalMap(IEnumerable<SimplePolygon> obstacles)
{
var edges = from obstacle in obstacles
from edge in obstacle.Edges
select edge;
var segments = from edge in edges
select new Segment(edge.Origin.Position, edge.End.Position);
TrapezoidalMap.TrapezoidalMap trapezoidalMap = new TrapezoidalMap.TrapezoidalMap(segments.ToList());
// must handle empty case
return trapezoidalMap;
}