irsim.world.obstacles

Obstacle classes for IR-SIM simulation.

This package contains different obstacle types: - obstacle_diff: Differential drive obstacle - obstacle_omni: Omnidirectional obstacle - obstacle_acker: Ackermann steering obstacle - obstacle_static: Static obstacle

Submodules

• irsim.world.obstacles.obstacle_acker
• irsim.world.obstacles.obstacle_diff
• irsim.world.obstacles.obstacle_omni
• irsim.world.obstacles.obstacle_static

Classes

ObstacleAcker	Ackermann-steered obstacle.
ObstacleDiff	Differential-drive obstacle.
ObstacleOmni	Omnidirectional obstacle.
ObjectStatic	Static object implementation used for static robots and obstacles.

Package Contents

class irsim.world.obstacles.ObstacleAcker(color='k', state_dim=4, **kwargs)

Bases: irsim.world.object_base.ObjectBase

Ackermann-steered obstacle.

Deprecated since version Use: ObjectBase with kinematics={'name': 'acker'}, role='obstacle' directly. This subclass will be removed in a future version.

Initialize an ObjectBase instance.

This method sets up a new ObjectBase object with the specified parameters, initializing its geometry, kinematics, behaviors, sensors, and other properties relevant to simulation.

The initialization process includes: - Setting up geometry handlers and collision detection - Configuring kinematics models for movement - Initializing state vectors and goal management - Setting up behaviors and sensor systems - Configuring visualization and plotting options

Note

All parameters are documented in the class docstring above. Refer to the ObjectBase class documentation for detailed parameter descriptions.

Raises:

ValueError – If dimension parameters do not match the provided shapes or if input parameters are invalid.

class irsim.world.obstacles.ObstacleDiff(color='k', state_dim=3, **kwargs)

Bases: irsim.world.object_base.ObjectBase

Differential-drive obstacle.

Deprecated since version Use: ObjectBase with kinematics={name: 'diff'}, role='obstacle' directly. This subclass will be removed in a future version.

Initialize an ObjectBase instance.

This method sets up a new ObjectBase object with the specified parameters, initializing its geometry, kinematics, behaviors, sensors, and other properties relevant to simulation.

The initialization process includes: - Setting up geometry handlers and collision detection - Configuring kinematics models for movement - Initializing state vectors and goal management - Setting up behaviors and sensor systems - Configuring visualization and plotting options

Note

All parameters are documented in the class docstring above. Refer to the ObjectBase class documentation for detailed parameter descriptions.

Raises:

ValueError – If dimension parameters do not match the provided shapes or if input parameters are invalid.

class irsim.world.obstacles.ObstacleOmni(color='k', state_dim=3, **kwargs)

Bases: irsim.world.object_base.ObjectBase

Omnidirectional obstacle.

Deprecated since version Use: ObjectBase with kinematics={'name': 'omni'}, role='obstacle' directly. This subclass will be removed in a future version.

Initialize an ObjectBase instance.

This method sets up a new ObjectBase object with the specified parameters, initializing its geometry, kinematics, behaviors, sensors, and other properties relevant to simulation.

The initialization process includes: - Setting up geometry handlers and collision detection - Configuring kinematics models for movement - Initializing state vectors and goal management - Setting up behaviors and sensor systems - Configuring visualization and plotting options

Note

All parameters are documented in the class docstring above. Refer to the ObjectBase class documentation for detailed parameter descriptions.

Raises:

ValueError – If dimension parameters do not match the provided shapes or if input parameters are invalid.

class irsim.world.obstacles.ObjectStatic(color='k', role='obstacle', state_dim=3, **kwargs)

Bases: irsim.world.object_base.ObjectBase

Static object implementation used for static robots and obstacles.

Create a static object (robot or obstacle).

Parameters:

• color (str) – Display color. Default “k”.

• role (str) – Role of the object (“robot” or “obstacle”).

• state_dim (int) – State vector dimension (>=3).

• **kwargs – Forwarded to ObjectBase.

static = True