irsim.world.obstacles.obstacle_diff

Classes

ObstacleDiff

Differential-drive obstacle.

Module Contents

class irsim.world.obstacles.obstacle_diff.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.