pyrobosim.navigation.world_graph.WorldGraphPlanner.__init__

WorldGraphPlanner.__init__(*, collision_check_step_dist: float = 0.025, max_connection_dist: float | None = None, compress_path: bool = False) → None

Creates an instance of a world graph planner.

Parameters:

• collision_check_step_dist – Step size for discretizing collision checking.

• max_connection_dist – Maximum connection distance between nodes.

• compress_path – If true, tries to shorten the path with polygon-based collision checks.