pyrobosim.navigation.world_graph.WorldGraphPlannerPolygon.__init__

WorldGraphPlannerPolygon.__init__(world=None, collision_check_step_dist=0.025, max_connection_dist=None, compress_path=False)

Creates an instance of a world graph planner.

Parameters:

• world (pyrobosim.core.world.World) – World object to use in the planner.

• collision_check_step_dist (float) – Step size for discretizing collision checking.

• max_connection_dist (float) – Maximum connection distance between nodes.

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