Module arm_obstacle_navigation 

Arm path planning with obstacle avoidance in joint space.

Builds an occupancy grid in joint space by checking arm-obstacle collisions, then uses A* search on a toroidal grid to find a collision-free path.

Reference: PythonRobotics ArmNavigation/arm_obstacle_navigation

Structs

ArmPath

Result of an A* path search in joint space.

CircleObstacle

A circular obstacle defined by center (x, y) and radius.

GridCell

A grid cell coordinate in joint space.

JointSpaceGrid

Occupancy grid for a 2-joint arm in joint space.

Functions

astar_torus

Performs A* search on a toroidal joint-space grid.

build_occupancy_grid

Builds the joint-space occupancy grid for a 2-joint arm.

build_occupancy_grid_default

Builds occupancy grid with default grid size.

detect_collision

Determines whether a line segment intersects a circle.

plan_arm_path

High-level function: plan a collision-free path for a 2-joint arm.