Source code for irsim.world.robots.robot_omni

import warnings
from typing import Any

from irsim.world.object_base import ObjectBase




class RobotOmni(ObjectBase):
    """Omnidirectional robot.

    .. deprecated::
        Use ``ObjectBase`` with ``kinematics={'name': 'omni'}`` directly.
        This subclass will be removed in a future version.
    """

    def __init__(self, color: str = "g", state_dim: int = 3, **kwargs: Any) -> None:
        warnings.warn(
            "RobotOmni is deprecated. Use ObjectBase with kinematics={'name': 'omni'} directly.",
            DeprecationWarning,
            stacklevel=2,
        )
        super().__init__(
            role="robot",
            color=color,
            state_dim=state_dim,
            **kwargs,
        )

        assert state_dim >= 2, (
            "for omni robot, the state dimension should be greater than 2"
        )

    def _init_plot(self, ax: Any, **kwargs: Any) -> None:
        show_goal = self.plot_kwargs.get("show_goal", True)

        super()._init_plot(ax, show_goal=show_goal, **kwargs)