pyrobosim.core.room.Room

class pyrobosim.core.room.Room(name=None, footprint=[], color=[0.4, 0.4, 0.4], wall_width=0.2, nav_poses=None, height=0.0)

Representation of a room in a world.

Methods

__init__([name, footprint, color, ...])	Creates a Room instance.
add_graph_nodes()	Creates graph nodes for searching.
get_collision_patch()	Returns a patch of the collision polygon for debug visualization.
is_collision_free(pose)	Checks whether a pose in the room is collision-free.
update_collision_polygons([inflation_radius])	Updates the collision polygons using the specified inflation radius.
update_visualization_polygon()	Updates visualization polygon of the room walls.