Source code for irsim.env.env_base3d

from __future__ import annotations

import itertools
from typing import Any, Optional

from irsim.config import env_param
from irsim.env import EnvBase
from irsim.world.object_base import ObjectBase
from irsim.world.object_factory import ObjectFactory
from irsim.world.world3d import World3D

from .env_plot3d import EnvPlot3D




class EnvBase3D(EnvBase):
    """
    This class is the 3D version of the environment class. It inherits from the :py:class:`.EnvBase` class to provide the 3D plot environment.
    """

    def __init__(self, world_name: Optional[str], **kwargs: Any):
        super().__init__(world_name, **kwargs)

        object_factory = ObjectFactory()

        self._world = World3D(world_name, **self.env_config.parse["world"])

        ObjectBase.id_iter = itertools.count()

        self._robot_collection = object_factory.create_from_parse(
            self.env_config.parse["robot"], "robot"
        )
        self._obstacle_collection = object_factory.create_from_parse(
            self.env_config.parse["obstacle"], "obstacle"
        )
        self._map_collection = object_factory.create_from_map(
            self._world.obstacle_positions, self._world.buffer_reso
        )

        self._env_plot.close()

        self._env_plot = EnvPlot3D(self._world, self.objects, **self._world.plot_parse)

        env_param.objects = self.objects