irsim.world.robots
==================

.. py:module:: irsim.world.robots

.. autoapi-nested-parse::

   Robot classes for IR-SIM simulation.

   This package contains different robot types:
   - robot_diff: Differential drive robot
   - robot_omni: Omnidirectional robot
   - robot_acker: Ackermann steering robot



Submodules
----------

.. toctree::
   :maxdepth: 1

   /api/irsim/world/robots/robot_acker/index
   /api/irsim/world/robots/robot_diff/index
   /api/irsim/world/robots/robot_omni/index


Classes
-------

.. autoapisummary::

   irsim.world.robots.RobotAcker
   irsim.world.robots.RobotDiff
   irsim.world.robots.RobotOmni


Package Contents
----------------

.. py:class:: RobotAcker(color: str = 'y', state_dim: int = 4, description: str = 'car_green.png', **kwargs: Any)

   Bases: :py:obj:`irsim.world.object_base.ObjectBase`


   Ackermann-steered robot.

   .. deprecated::
       Use ``ObjectBase`` with ``kinematics={'name': 'acker'}`` 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
      :py:class:`ObjectBase` class documentation for detailed parameter descriptions.

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


.. py:class:: RobotDiff(color: str = 'g', state_dim: int = 3, **kwargs: Any)

   Bases: :py:obj:`irsim.world.object_base.ObjectBase`


   Differential-drive robot.

   .. deprecated::
       Use ``ObjectBase`` with ``kinematics={'name': 'diff'}`` 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
      :py:class:`ObjectBase` class documentation for detailed parameter descriptions.

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


.. py:class:: RobotOmni(color: str = 'g', state_dim: int = 3, **kwargs: Any)

   Bases: :py:obj:`irsim.world.object_base.ObjectBase`


   Omnidirectional robot.

   .. deprecated::
       Use ``ObjectBase`` with ``kinematics={'name': 'omni'}`` 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
      :py:class:`ObjectBase` class documentation for detailed parameter descriptions.

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