function [vxFiltered,vyFiltered]=filterEdges(vx,vy,Obst)
%remove edges crossing obstacle boundaries

%init
okEdges=ones(1,size(vx,2));
epss=1e-10;

%check each edge for all obstacles
for i_edge=1:size(vx,2),
    obstID=0;
    for i_obst=1:size(Obst,2),
        %filter edges with vertices inside an obstacle or with edges of
        %zero size
        if (abs(vx(1,i_edge)-Obst(1,i_obst))<epss && abs(vy(1,i_edge)-Obst(2,i_obst))<epss) || ...
                (abs(vx(2,i_edge)-Obst(1,i_obst))<epss && abs(vy(2,i_edge)-Obst(2,i_obst))<epss) || ...
                (abs(vx(1,i_edge)-vx(2,i_edge))<epss && abs(vy(1,i_edge)-vy(2,i_edge))<epss),
            obstID=i_obst;
            break;
        end
    end
    if ~obstID,
        obstID=checkEdge([vx(1,i_edge),vx(2,i_edge)],[vy(1,i_edge),vy(2,i_edge)],Obst);
    end
    if obstID,
        okEdges(i_edge)=0;
    end
end

%output
vxFiltered = vx(:,okEdges>0);
vyFiltered = vy(:,okEdges>0);