pyrobosim.core.hallway.Hallway

class pyrobosim.core.hallway.Hallway(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)

Representation of a hallway connecting two rooms in a world.

Methods

__init__([room_start, room_end, name, ...])	Creates a Hallway instance between two rooms.
add_graph_nodes()	Creates graph nodes for searching.
get_closed_patch()	Returns a patch of the hallway polygon to display when it is closed.
get_collision_patch()	Returns a patch of the collision polygon for debug visualization.
is_collision_free(pose)	Checks whether a pose in the hallway is collision-free.
print_details()	Prints string with details.
to_dict()	Serializes the hallway to a dictionary.
update_collision_polygons([inflation_radius])	Updates the collision polygons using the specified inflation radius.
update_visualization_polygon()	Updates the visualization polygon for the hallway walls.