pyrobopath.toolpath_scheduling.toolpath_collision.events_cause_collision#
- pyrobopath.toolpath_scheduling.toolpath_collision.events_cause_collision(events: List[ContourEvent], agent: Hashable, schedule: MultiAgentToolpathSchedule, agent_models: Dict[Hashable, AgentModel], threshold: float)[source]#
Determines if adding the ‘events’ to ‘schedule’ will cause a collision in the resulting trajectory.
For timesteps with no event, agents are assumed to be in collision-free positions
- Parameters:
events (List[ContourEvent]) – The events to be added
agent (Hashable) – The agent for the event
schedule (MultiAgentSchedule) – A schedule that is assumed collision-free
agent_models (Dict[str, AgentModel]) – Context info about the system
threshold – The maximum collision checking step distance