pyrobosim.navigation.occupancy_grid.OccupancyGrid.from_world

classmethod OccupancyGrid.from_world(world: World, resolution: float, inflation_radius: float = 0.0, robot: Robot | None = None, xlim: tuple[float, float] | None = None, ylim: tuple[float, float] | None = None, auto_lim_padding_ratio: float = 0.05) → Self

Generates an occupancy grid of a world at a given resolution.

Can optionally specify (min, max) x and y limits. If they are left unspecified, the extents will be calculated automatically.

Parameters:

• world – World object from which to create an occupancy grid.

• resolution – Grid resolution, in meters.

• inflation_radius – Inflation radius, in meters.

• robot – Robot instance used for checking collisions.

• xlim – X coordinate limits, in meters.

• ylim – Y coordinate limits, in meters.

• auto_lim_padding_ratio – Additional padding ratio outside world limits if automatically computed, defaults to 0.05.

Returns:

Occupancy grid of the world.