pyrobosim.utils.polygon.polygon_and_height_from_footprint
- pyrobosim.utils.polygon.polygon_and_height_from_footprint(footprint, pose=None, parent_polygon=None)
Returns a Shapely polygon and vertical (Z) height given footprint metadata. Valid footprint metadata comes from YAML files, and can include:
"type"
: Type of footprint. Supported geometries include:"box"
: Box geometry"dims"
: (x, y) dimensions
"circle"
: Circle geometry"radius"
: radius of circle
"polygon"
: Generic polygon geometry"coords"
: List of (x, y) coordinates
"mesh"
: Load geometry as 2D convex hull from mesh file"model_path"
: Path to folder containing the .sdf and mesh files"mesh path"
: Path to mesh file relative to model_path
"parent"
: Requiresparent_polygon
argument to also be passed in"padding"
: Additional padding relative to the parent polygon
"offset"
: Offset (x, y) or (x, y, yaw) from the specified geometry above
- Parameters:
footprint (dict) – Footprint metadata from YAML file
pose (
pyrobosim.utils.pose.Pose
) – Pose with which to transform the resulting polygonparent_polygon (
shapely.geometry.Polygon
) – Shapely polygon representing the parent geometry, if applicable
- Returns:
Shapely polygon representing the loaded polygon, plus the vertical (Z) height.
- Return type:
(class:shapely.geometry.Polygon, float)