pyrobosim.navigation.occupancy_grid.reduce_waypoints_grid

pyrobosim.navigation.occupancy_grid.reduce_waypoints_grid(grid: OccupancyGrid, positions: list[tuple[int, int]]) → list[tuple[int, int]]

Reduces the number of waypoints in a generated path from a grid-based planner.

Parameters:

• grid – The occupancy grid associated with the generated path.

• positions – The list of positions that make up the path.

Returns:

The optimized list of waypoints.