Add function to generate random sample points within a zone

robot_sf/ped_npc/ped_zone.py

@@ -6,10 +6,36 @@
 
 
 def sample_zone(zone: Zone, num_samples: int) -> List[Vec2D]:
+    """
+    Generate a specified number of random sample points within a zone.
+
+    The zone is defined as a triangle with vertices a, b, and c. The points are generated
+    using uniform random sampling.
+
+    Parameters
+    ----------
+    zone : Zone
+        The zone within which to generate sample points. This is a tuple of three 2D
+        vectors representing the vertices of the triangle.
+    num_samples : int
+        The number of sample points to generate.
+
+    Returns
+    -------
+    List[Vec2D]
+        A list of the generated sample points. Each point is a tuple of two numbers
+        representing the x and y coordinates.
+    """
+    # Unpack the vertices of the triangle
     a, b, c = zone
+    # Convert the vertices to numpy arrays for vectorized computation
     a, b, c = np.array(a), np.array(b), np.array(c)
+    # Compute the vectors from vertex b to vertices a and c
     vec_ba, vec_bc = a - b, c - b
+    # Generate random numbers for the relative width and height of the points
     rel_width = np.random.uniform(0, 1, (num_samples, 1))
     rel_height = np.random.uniform(0, 1, (num_samples, 1))
+    # Compute the coordinates of the points
     points = b + rel_width * vec_ba + rel_height * vec_bc
+    # Convert the points to a list of tuples and return it
     return [(x, y) for x, y in points]