pyrobosim.utils.motion.Path.is_collision_free

Path.is_collision_free(world, step_dist=0.01)

Check whether a path is collision free in a specific world.

Parameters:

• world (pyrobosim.core.world.World) – The world to use for collision checking.

• step_dist (float) – The step size for discretizing a straight line to check collisions.

Returns:

True if the path is collision free, else False.

Return type:

bool