OccupancyMap

class unified_planning.model.motion.OccupancyMap(filename: str, reference_frame: SE2 | SE3)[source]

Bases: object

This class represents an occupancy map.

An occupancy map is a representation of the free and occupied working space, where occupied areas represents the fixed obstacles. The map is characterized by a frame of reference, that is a set of coordinates that can be used to determine positions and velocities of objects in that frame.

filename: str

reference_frame: SE2 | SE3