insane/structure.py
def occupancy(grid, points, spacing=0.01):
    """Return a vector with the occupancy of each grid point for 
    given array of points"""
    distances = ((grid[:,None,:] - points[None,:,:])**2).sum(axis=2)
    occupied = (distances < spacing).sum(axis=1)
    return occupied
def occupancy(grid, points, spacing=0.01):
    distances = ((grid[:,None,:] - points[None,:,:])**2).sum(axis=2)
    occupied = (distances < spacing).sum(axis=1)
    return occupied
def occupancy ( grid , points , spacing = 0.01 ) : distances = ( ( grid [ : , None , : ] - points [ None , : , : ] ) ** 2 ) . sum ( axis = 2 ) occupied = ( distances < spacing ) . sum ( axis = 1 ) return occupied
Return a vector with the occupancy of each grid point for 
    given array of points
Return a vector with the occupancy of each grid point for given array of points