pyrobosim.core.hallway.Hallway

class pyrobosim.core.hallway.Hallway(*, name: str, room_start: Room, room_end: Room, width: float = 0.0, conn_method: str = 'auto', offset: float = 0.0, conn_angle: float = 0.0, conn_points: Sequence[Sequence[float]] = [], color: Sequence[float] = [0.4, 0.4, 0.4], wall_width: float = 0.2, is_open: bool = True, is_locked: bool = False)

Representation of a hallway connecting two rooms in a world.

Methods

__init__(*, name, room_start, room_end[, ...])	Creates a Hallway instance between two rooms.
add_graph_nodes()	Creates graph nodes for searching.
get_closed_patch()	Returns a patch of the hallway polygon to display when it is closed.
get_collision_patch()	Returns a patch of the collision polygon for debug visualization.
is_collision_free(pose)	Checks whether a pose in the hallway is collision-free.
print_details()	Prints string with details.
to_dict()	Serializes the hallway to a dictionary.
update_collision_polygons([inflation_radius])	Updates the collision polygons using the specified inflation radius.
update_visualization_polygon()	Updates the visualization polygon for the hallway walls.

Attributes

viz_color

The color of the visualization polygon patch and text.