pyrobosim.core.world.World.collides_with_robots

World.collides_with_robots(pose, robot=None)

Checks if a pose collides with robots in the world. Currently assumes that robots are circles, so we can do simple checks. If this changes, should account for polygon collisions. :param pose: Candidate pose to check. :type pose: pyrobosim.utils.pose.Pose :param robot: Robot instance, if specified. :type robot: pyrobosim.core.robot.Robot, optional :return: True if the pose collides with a robot besides the input. :rtype: bool