pyrobosim.core.types.Entity

class pyrobosim.core.types.Entity(*, name: str)

Generic Entity class that helps with type hinting.

Several classes in PyRoboSim (such as robots, rooms, etc.) subclass from this.

Methods

__init__(*, name)	Construct a new Entity instance.
add_graph_nodes()	Creates graph nodes for searching.
get_room_name()	Returns the name of the room containing the object.
is_collision_free(pose)	Checks whether a pose is collision free in this entity.
is_inside(pose)	Checks if a pose is inside the entity polygon.
set_open(state[, recursive])	Helper function that sets the entity open or closed, including children.

Attributes

category	The category of the entity.
collision_polygon	The collision polygon representing the entity.
graph_nodes	The (optional) list of search graph nodes for this entity.
height	The height (in the Z direction) of the entity.
internal_collision_polygon	The internal collision polygon representing the entity.
is_charger	Whether the entity is a charger or not.
is_locked	Whether the entity is locked or not.
is_open	Whether the entity is open or not.
name	The name of the entity.
nav_poses	The (optional) list of navigation poses for this entity.
polygon	The main polygon representing the entity.
pose	The pose of the entity.
viz_patch	The visualization polygon patch for the entity.
viz_color	The color of the visualization polygon patch and text.