pyrobosim.core.world.World.collides_with_robots

World.collides_with_robots(pose: Pose, robot: Robot | None = None) → bool

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.

Parameters:

• pose – Candidate pose to check.

• robot – Robot instance, if specified.

Returns:

True if the pose collides with a robot besides the input.