pyrobosim.utils.polygon.box_to_coords

pyrobosim.utils.polygon.box_to_coords(dims, origin=[0, 0], ang=0)

Converts box dimensions and origin to a Shapely compatible list of coordinate tuples.

Parameters:

  • dims ((float, float)) – The box dimensions (width, height).

  • origin ((float, float), optional) – The box (x,y) origin

  • ang (float, optional) – The angle to rotate the box, in radians.

Returns:

A list of 2D coordinate representing the polygon.

Return type:

list[(float, float)]

Example:

coords = box_to_coords(dims=[2.5, 2.5], origin=[1, 2], ang=0.5)