pyrobosim.core.world.World.is_connectable

World.is_connectable(start, goal, step_dist=0.01, max_dist=None)

Checks connectivity between two poses start and goal in the world by sampling points spaced by the self.collision_check_dist parameter and verifying that every point is in the free configuration space. :param start: Start node :type start: Pose :param goal: Goal node :type goal: Pose :param step_dist: The step size for discretizing a straight line to check collisions. :type step_dist: float :param max_dist: The maximum allowed connection distance. :type max_dist: float, optional :return: True if nodes can be connected, else False. :rtype: bool