pyrobosim.core.hallway.Hallway
- class pyrobosim.core.hallway.Hallway(room_start=None, room_end=None, width=0.0, conn_method='auto', offset=0, conn_angle=0, conn_points=[], color=[0.4, 0.4, 0.4], wall_width=0.2)
Representation of a hallway connecting two rooms in a world.
Methods
__init__
([room_start, room_end, width, ...])Creates a Hallway instance between two rooms.
Creates graph nodes for searching.
Returns a patch of the collision polygon for debug visualization.
is_collision_free
(pose)Checks whether a pose in the hallway is collision-free.
update_collision_polygons
([inflation_radius])Updates the collision polygons using the specified inflation radius.
Updates the visualization polygon for the hallway walls.