pyrobosim.core.hallway.Hallway.__init__

Hallway.__init__(room_start=None, room_end=None, name=None, width=0.0, conn_method='auto', offset=0, conn_angle=0, conn_points=[], color=[0.4, 0.4, 0.4], wall_width=0.2, is_open=True, is_locked=False)

Creates a Hallway instance between two rooms.

Hallways can be connected with a few different connection methods. These are:

• "auto" : Draws straight line between room centroids (default)

• "angle" : Directly specifies an angle leaving the centroid of the start room.

• "points" : Specify an explicit list of points defining the hallway.

Parameters:

• room_start (pyrobosim.core.room.Room) – Room object for the start of the hallway (required).

• room_end (pyrobosim.core.room.Room) – Room object for the end of the hallway (required).

• name (str, optional) – Hallway name.

• width (float) – Width of the hallway, in meters (required).

• conn_method (str, optional) – Connection method (see description above).

• offset (float, optional) – Perpendicular offset from centroid of start point (valid if using "auto" or "angle" connection methods)

• conn_angle (float, optional) – If using "angle" connection method, specifies the angle of the hallway in radians (0 points to the right).

• conn_points (list[(float, float)], optional) – If using “points” connection method, specifies the hallway points.

• color (list[float] | tuple[float, float, float] | str) –

  Visualization color. Input can be:

  • an (R, G, B) tuple or list in the range (0.0, 1.0).

  • a string (e.g., “red”).

  • a hexadecimal string (e.g., “#FF0000”).

• wall_width (float, optional) – Width of hallway walls, in meters.

• is_open (bool, optional) – If True, the hallway is open, otherwise it is closed.

• is_locked (bool, optional) – If True, the hallway is locked, meaning it cannot be opened or closed.