pyrobopath.toolpath_scheduling.toolpath_collision.concurrent_trajectory_pairs#

pyrobopath.toolpath_scheduling.toolpath_collision.concurrent_trajectory_pairs(tr1: List[Trajectory], tr2: List[Trajectory])[source]#

Finds the intersections of intervals in two lists of trajectories. Each trajectory is sliced according to the interval intersections.

Runs in O(n + m)

Parameters:

  • tr1 (List[Trajectory]) – The first list of trajectories

  • tr2 (List[Trajectory]) – The second list of trajectories

Returns:

A list of concurrent trajectory pairs

Return type:

List[Tuple(Trajectory, Trajectory)]