allow intersection/contain tests to test sets of points/polygons

Author: petercorke

spatialmath/geom2d.py

@@ -186,7 +186,7 @@ def contains(self, p, radius=0.0):
         # https://stackoverflow.com/questions/45957229/matplotlib-path-contains-points-radius-parameter-defined-inconsistently
         # edges are included but the corners are not
 
-        if p.ndim == 1:
+        if isinstance(p, (list, tuple)) or (isinstance(p, np.ndarray) and p.ndim == 1):
             return self.path.contains_point(tuple(p), radius=radius)
         else:
             return self.path.contains_points(p.T, radius=radius)
@@ -254,6 +254,11 @@ def intersects(self, other):
                 if other.intersect_segment(p1, p2):
                     return True
             return False
+        elif isinstance(other, (list, tuple)):
+            for polygon in other:
+                if self.path.intersects_path(polygon.path, filled=True):
+                    return True
+            return False
 
     def transformed(self, T):
         """