robotics_toolbox.utils.geometry_utils.circle_circle_intersection

robotics_toolbox.utils.geometry_utils.circle_circle_intersection(c0, r0, c1, r1)

Computes intersection of the circles defined by center c_i and radius r_i. Returns empty array if there is no solution, two solutions otherwise. If there are infinite number of solutions, select two (almost) randomly.

Parameters:

• c0 (_SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes])

• r0 (float)

• c1 (_SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes])

• r1 (float)

Return type:

list[ndarray]