pyrobosim.utils.world_collision

Collision and occupancy checking utilities that require a world and a robot instance.

Functions

check_occupancy(pose, world[, robot])	Check if a pose in the world is occupied.
is_connectable(start, goal, world[, robot, ...])	Checks connectivity between two poses start and goal in the world by sampling points spaced by the collision_check_dist parameter and verifying that every point is in the free configuration space.
is_path_collision_free(path, robot[, step_dist])	Check whether a path is collision free in this world.