pyrobosim.utils.world_collision.is_path_collision_free

pyrobosim.utils.world_collision.is_path_collision_free(path: Path, robot: Robot, step_dist: float = 0.01) → bool

Check whether a path is collision free in this world.

Parameters:

• path – The path to use for collision checking.

• robot – The robot instance used for collision checking.

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

Returns:

True if the path is collision free, else False.