pyrobosim.utils.motion.reduce_waypoints_polygon

pyrobosim.utils.motion.reduce_waypoints_polygon(world, poses, step_dist=0.01)

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

Parameters:

• world (pyrobosim.core.world.World) – The world object in which the path is generated.

• poses (list[:class: pyrobosim.utils.pose.Pose]) – The list of poses that make up the path.

• step_dist (float) – The step size for discretizing a straight line to check collisions.

• max_dist (float, optional) – The maximum allowed connection distance.