Environment#
- class Environment#
- safety_margin: float#
Additional global safety margin used for collision checking.
- __init__(robot: Robot, safety_margin=0.0)#
Constructs a new environment with the given robot, and a global safety margin for collision checking.
- get_robot(name: str = '') Robot#
Get the robot with the given name from the environment. In case there is only a single robot in the environment, the default empty name argument will return this robot. Otherwise throws an error if no robot with the name exists.
- get_waypoint(name: str) Point#
Get the waypoint with the given name from the environment. Returns either a Waypoint, a CartesianWaypoint, a Region, or a CartesianRegion. Throws an error if no waypoint with the name exists.
- get_obstacle(name: str) Obstacle#
Get the obstacle with the given name from the environment. Throws an error if no obstacle with the name exists.
- add_obstacle(obstacle: Obstacle) Obstacle#
Adds an obstacle to the environment. Returns a pointer to the added obstacle for future changes.
- add_obstacle(object: Object, origin=Frame.Identity()) Obstacle#
Adds a collision object to the environment at the given origin frame. Returns a pointer to the added obstacle for future changes.
- add_obstacle(name: str, object: Object, origin=Frame.Identity(), color='000000') Obstacle#
Adds a collision object to the environment at the given origin frame. Returns a pointer to the added obstacle for future changes.
- remove_obstacle(obstacle: Obstacle)#
Removes the given obstacles from the environment and from all collision checking.
- update_fixed_obstacles()#
Updates all fixed obstacles for the internal collision checking. This should be called after changing e.g. the position or size of an obstacle.
- update_height_field(obstacle: Obstacle)#
Updates the heights matrix of a given height field obstacle for the internal collision checking.
- update_joint_position(robot: Robot, joint_position: Config)#
Updates the joint position of the given robot for the internal collision checking.
- check_collision(joint_position: Config) bool#
Returns whether the given joint position is in collision with the environment (considering the security margin).