pyrobosim.utils.world_motion_planning.reduce_waypoints_polygon

pyrobosim.utils.world_motion_planning.reduce_waypoints_polygon(world: World, poses: list[Pose], robot: Robot | None = None, step_dist: float = 0.01) → list[Pose]

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

Parameters:

• world – The world object in which the path is generated.

• poses – The list of poses that make up the path.

• robot – The robot instance running collision checking.

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

Returns:

Reduced waypoints pose list.