pyrobopath.toolpath_scheduling.toolpath_collision.event_causes_collision#
- pyrobopath.toolpath_scheduling.toolpath_collision.event_causes_collision(event: ContourEvent, agent: Hashable, schedule: MultiAgentToolpathSchedule, agent_models: Dict[Hashable, AgentModel], threshold: float)[source]#
Determines if adding ‘event’ to ‘schedule’ will cause a collision in the resulting trajectory.
The events in schedule from event.start_time() to schedule.end_time() are checked for collision. This is necessary because adding an event at a previous time can cause collisions in the future.
- Parameters:
event (ContourEvent) – The event to be added (with Event.data = Contour)
agent (Hashable) – The agent for the event
schedule (MultiAgentToolpathSchedule) – A schedule that is assumed collision-free
agent_models (Dict[str, AgentModel]) – Context info about the system
threshold (float) – The maximum collision checking step distance (in units equivalent to points in event)
- Returns:
True if event causes collision, False else
- Return type:
bool