pyrobosim.navigation.occupancy_grid.OccupancyGrid.from_world
- classmethod OccupancyGrid.from_world(world, resolution, inflation_radius=0.0, xlim=None, ylim=None, auto_lim_padding_ratio=0.05)
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 (
pyrobosim.core.world.World) – World object from which to create an occupancy grid.resolution (float) – Grid resolution, in meters.
inflation_radius (float) – Inflation radius, in meters.
xlim ((float, float), optional) – X coordinate limits, in meters.
ylim ((float, float), optional) – Y coordinate limits, in meters.
auto_lim_padding_ratio (float) – Additional padding ratio outside world limits if automatically computed, defaults to 0.05.
- Returns:
Occupancy grid of the world.
- Return type: