removed union_all to maintain compatibility with shapely 1.8.0

UBCSailbot · Sep 26, 2024 · 38f8ef4 · 38f8ef4
1 parent dce9ad2
commit 38f8ef4
Showing 1 changed file with 2 additions and 4 deletions.
diff --git a/src/local_pathfinding/local_pathfinding/obstacles.py b/src/local_pathfinding/local_pathfinding/obstacles.py
@@ -5,7 +5,6 @@
 
 import numpy as np
 from custom_interfaces.msg import HelperAISShip, HelperLatLon
-from shapely import union_all
 from shapely.affinity import affine_transform
 from shapely.geometry import MultiPolygon, Point, Polygon, box
 
@@ -144,8 +143,7 @@ def _update_land_collision_zone(
         """
         if land_multi_polygon is not None:
             # for testing
-            # to remove overlaps between polygons
-            self.collision_zone = union_all(land_multi_polygon)
+            self.collision_zone = land_multi_polygon
             return
 
         if bbox is None:
@@ -163,7 +161,7 @@ def _update_land_collision_zone(
 
         xy_polygons = Land._latlon_polygons_to_xy_polygons([latlon_polygons], self.reference)
 
-        collision_zone = union_all(MultiPolygon(xy_polygons))
+        collision_zone = MultiPolygon(xy_polygons)
 
         if collision_zone.geom_type == "MultiPolygon":
             self.collision_zone = collision_zone