pyrobosim.core.hallway.Hallway.__init__

Hallway.__init__(room_start=None, room_end=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)

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).

• 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 ((float, float, float), optional) – Visualization color as an (R, G, B) tuple in the range (0.0, 1.0)

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