API Documentation#
- irsim
- env
- irsim.env.env_base
EnvBaseEnvBase.step()EnvBase.render()EnvBase.show()EnvBase.draw_trajectory()EnvBase.draw_points()EnvBase.draw_box()EnvBase.draw_quiver()EnvBase.draw_quivers()EnvBase.init_keyboard()EnvBase.end()EnvBase.done()EnvBase.reset()EnvBase.reset_plot()EnvBase.random_obstacle_position()EnvBase.random_polygon_shape()EnvBase.create_obstacle()EnvBase.add_object()EnvBase.add_objects()EnvBase.delete_object()EnvBase.delete_objects()EnvBase.build_tree()EnvBase.get_robot_state()EnvBase.get_lidar_scan()EnvBase.get_lidar_offset()EnvBase.get_obstacle_info_list()EnvBase.get_robot_info()EnvBase.get_robot_info_list()EnvBase.get_map()EnvBase.save_figure()EnvBase.load_behavior()EnvBase.robot_listEnvBase.obstacle_listEnvBase.objectsEnvBase.static_objectsEnvBase.dynamic_objectsEnvBase.step_timeEnvBase.robotEnvBase.obstacle_numberEnvBase.robot_numberEnvBase.logger
EnvBase3D
- irsim.env.env_logger
- irsim.env.env_config
- irsim.env.env_plot
EnvPlotEnvPlot.init_plot()EnvPlot.init_objects_plot()EnvPlot.step_objects_plot()EnvPlot.draw_components()EnvPlot.clear_components()EnvPlot.draw_grid_map()EnvPlot.draw_trajectory()EnvPlot.draw_points()EnvPlot.draw_box()EnvPlot.save_figure()EnvPlot.save_animate()EnvPlot.show()EnvPlot.close()EnvPlot.logger
linewidth_from_data_units()
- irsim.env.env_base
- lib
- irsim.lib.behavior
- irsim.lib.behavior_methods
- irsim.lib.handler
geometry_handlergeometry_handler.construct_original_geometry()geometry_handler.step()geometry_handler.get_init_Gh()geometry_handler.get_Gh()geometry_handler.get_polygon_Gh()geometry_handler.get_circle_Gh()geometry_handler.cal_length_width()geometry_handler.verticesgeometry_handler.init_verticesgeometry_handler.original_verticesgeometry_handler.radius
CircleGeometryPolygonGeometryRectangleGeometryLinestringGeometryPointsGeometrygeometry_handler3dGeometryFactoryKinematicsHandlerOmniKinematicsDifferentialKinematicsAckermannKinematicsKinematicsFactory
- irsim.lib.algorithm
random_generate_polygon()generate_polygon()random_angle_steps()clip()differential_kinematics()ackermann_kinematics()omni_kinematics()reciprocal_vel_obsreciprocal_vel_obs.update()reciprocal_vel_obs.cal_vel()reciprocal_vel_obs.config_rvo()reciprocal_vel_obs.config_rvo_mode()reciprocal_vel_obs.config_hrvo()reciprocal_vel_obs.config_hrvo_mode()reciprocal_vel_obs.config_vo()reciprocal_vel_obs.config_vo_mode()reciprocal_vel_obs.vel_candidate()reciprocal_vel_obs.vo_out()reciprocal_vel_obs.vel_select()reciprocal_vel_obs.penalty()reciprocal_vel_obs.between_vector()reciprocal_vel_obs.cross_product()
- world
- irsim.world
- irsim.world.object_factory
ObjectFactoryObjectInfoObjectInfo.idObjectInfo.shapeObjectInfo.kinematicsObjectInfo.roleObjectInfo.colorObjectInfo.staticObjectInfo.goalObjectInfo.vel_minObjectInfo.vel_maxObjectInfo.acceObjectInfo.angle_rangeObjectInfo.goal_thresholdObjectInfo.wheelbaseObjectInfo.GObjectInfo.hObjectInfo.cone_typeObjectInfo.convex_flagObjectInfo.add_property()
ObstacleInfoObjectBaseObjectBase.state_dimObjectBase.state_shapeObjectBase.vel_dimObjectBase.vel_shapeObjectBase.stateObjectBase._init_stateObjectBase._velocityObjectBase._init_velocityObjectBase._goalObjectBase._init_goalObjectBase._geometryObjectBase.groupObjectBase.stop_flagObjectBase.arrive_flagObjectBase.collision_flagObjectBase.unobstructedObjectBase.staticObjectBase.vel_minObjectBase.vel_maxObjectBase.colorObjectBase.roleObjectBase.infoObjectBase.wheelbaseObjectBase.fovObjectBase.fov_radiusObjectBase.id_iterObjectBase.state_shapeObjectBase.vel_shapeObjectBase.reset_id_iter()ObjectBase.step()ObjectBase.sensor_step()ObjectBase.check_status()ObjectBase.check_arrive_status()ObjectBase.check_collision_status()ObjectBase.check_collision()ObjectBase.gen_behavior_vel()ObjectBase.pre_process()ObjectBase.post_process()ObjectBase.mid_process()ObjectBase.get_lidar_scan()ObjectBase.get_lidar_points()ObjectBase.get_lidar_offset()ObjectBase.get_fov_detected_objects()ObjectBase.fov_detect_object()ObjectBase.set_state()ObjectBase.set_velocity()ObjectBase.set_original_geometry()ObjectBase.set_random_goal()ObjectBase.set_goal()ObjectBase.set_laser_color()ObjectBase.input_state_check()ObjectBase.plot()ObjectBase.plot_object()ObjectBase.plot_object_image()ObjectBase.plot_trajectory()ObjectBase.plot_goal()ObjectBase.plot_text()ObjectBase.plot_arrow()ObjectBase.plot_trail()ObjectBase.plot_fov()ObjectBase.plot_uncertainty()ObjectBase.plot_clear()ObjectBase.done()ObjectBase.reset()ObjectBase.remove()ObjectBase.get_vel_range()ObjectBase.get_info()ObjectBase.get_obstacle_info()ObjectBase.get_init_Gh()ObjectBase.get_Gh()ObjectBase.nameObjectBase.abbrObjectBase.shapeObjectBase.zObjectBase.kinematicsObjectBase.geometryObjectBase.centroidObjectBase.idObjectBase.stateObjectBase.init_stateObjectBase.velocityObjectBase.goalObjectBase.positionObjectBase.radiusObjectBase.lengthObjectBase.widthObjectBase.wheelbaseObjectBase.radius_extendObjectBase.arriveObjectBase.collisionObjectBase.verticesObjectBase.original_verticesObjectBase.external_objectsObjectBase.ego_objectObjectBase.possible_collision_objectsObjectBase.desired_omni_velObjectBase.rvo_neighborsObjectBase.rvo_neighbor_stateObjectBase.rvo_stateObjectBase.velocity_xyObjectBase.beh_configObjectBase.loggerObjectBase.headingObjectBase.orientation
- irsim.world.sensor_factory
Lidar2DLidar2D.init_geometry()Lidar2D.step()Lidar2D.laser_geometry_process()Lidar2D.calculate_range()Lidar2D.calculate_range_vel()Lidar2D.get_scan()Lidar2D.get_points()Lidar2D.get_offset()Lidar2D.plot()Lidar2D.stateLidar2D.step_plot()Lidar2D.set_laser_color()Lidar2D.plot_clear()Lidar2D.scan_to_pointcloud()
SensorFactory
- util
- irsim.util
file_check()find_file()WrapToPi()WrapToRegion()convert_list_length()convert_list_length_dict()is_list_of_dicts()is_list_of_numbers()is_list_of_lists()is_list_not_list_of_lists()relative_position()get_transform()transform_point_with_state()get_affine_transform()geometry_transform()omni_to_diff()diff_to_omni()time_it()time_it2()cross_product()is_convex_and_ordered()gen_inequal_from_vertex()distance()dist_hypot()random_point_range()is_2d_list()
- irsim.util