pyrobosim.utils.motion.reduce_waypoints_grid

pyrobosim.utils.motion.reduce_waypoints_grid(grid, positions)

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

Parameters:

• grid (pyrobosim.navigation.occupancy_grid.OccupancyGrid) – The occupancy grid associated with the generated path.

• poses (list[(int, int)]) – The list of positions that make up the path.

Returns:

The optimized list of waypoints.

Return type:

list[(int, int)]