Finding intersection of line(vector) and an unclosed shape

I have a robot and wall obstacles. My robot has binary sensors which can detect obstacles which are directly in front of them. The wall obstacles have an unclosed shape which is challenging cause with closed I could assume it's polygon. I want to find a way(Matlab command) to tell me if the line(vector) is in the shape or on its edge or not.

Here is my obstacle shape:

%Obstacle Parameters
Points = [[6.5 4.5];
[4.5 4.5];
[4.5 2.5];
[1.0 2.5];
[1.0 6.0];
[3.0 6.0];
[3.0 7.5];
[1.5 7.5];
[1.5 8.5];
[5.0 8.5]];

%Find Obstacle Points
Obstacle_Points = [];

for i = 1:9
    
    ang = atan2(Points(i+1 , 2) - Points(i , 2) ,  Points(i+1 , 1) - Points(i , 1));
    
    if (ang == pi/2 || ang ==-pi/2)

        y = linspace(Points(i , 2) , Points(i+1 , 2) , 100);
        x = Points(i , 1) * ones(1 , 100);
        Obstacle_Points = [Obstacle_Points ; [x' , y']];
    else
        
        x = linspace(Points(i , 1) , Points(i+1 , 1) , 100);
        y = Points(i , 2) * ones(1 , 100) ; 
        Obstacle_Points = [Obstacle_Points ; [x' , y']];

    end
end

axis equal
line(Obstacle_Points(:,1) , Obstacle_Points(:,2) , 'LineWidth' , 2 , 'color' , [0.8500 0.3250 0.0980]); xlim([0 7]); ylim([0 10]);

[chicken vector]

What do you mean when you say line(vector)?

[Mohammadreza]

I have to points for the line(vector). One is the location of the sensor and the other one is the highest range it can detect.

[Mohammadreza]

Vector(arrow) helps me to visualize the simulation better.

[Image Analyst]

Would inpolygon help?

Answer 1

[Matt J]

Use polyxpoly if you have the appropriate toolbox. Otherwise, use this FEX download,

https://www.mathworks.com/matlabcentral/fileexchange/93470-intersections-of-multiple-2d-lines-or-line-segments