pyrobosim.core.room.Room

class pyrobosim.core.room.Room(*, name: str, footprint: Sequence[Sequence[float]] | dict[str, Any] = [], color: str | Sequence[float] = [0.4, 0.4, 0.4], wall_width: float = 0.2, pose: Pose | None = None, nav_poses: list[Pose] | None = None, height: float = 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.
get_room_name()	Overrides the entity implementation by getting the name of this room.
is_collision_free(pose)	Checks whether a pose in the room is collision-free.
to_dict()	Serializes the room to a dictionary.
update_collision_polygons([inflation_radius])	Updates the collision polygons using the specified inflation radius.
update_visualization_polygon()	Updates visualization polygon of the room walls.

Attributes

viz_color

The color of the visualization polygon patch and text.