irsim.lib.handler.kinematics_handler#

Classes#

KinematicsHandler

Abstract base class for handling robot kinematics.

OmniKinematics

Abstract base class for handling robot kinematics.

DifferentialKinematics

Abstract base class for handling robot kinematics.

AckermannKinematics

Abstract base class for handling robot kinematics.

KinematicsFactory

Factory class to create kinematics handlers.

Module Contents#

class irsim.lib.handler.kinematics_handler.KinematicsHandler(name, noise: bool = False, alpha: list | None = None)[source]#

Bases: abc.ABC

Abstract base class for handling robot kinematics.

Initialize the KinematicsHandler class.

Parameters:

  • noise (bool) – Boolean indicating whether to add noise to the velocity (default False).

  • alpha (list) – List of noise parameters for the velocity model (default [0.03, 0, 0, 0.03]).

name#
noise = False#
alpha = [0.03, 0, 0, 0.03]#
abstractmethod step(state: numpy.ndarray, velocity: numpy.ndarray, step_time: float) → numpy.ndarray[source]#

Calculate the next state using the kinematics model.

Parameters:

  • state (np.ndarray) – Current state.

  • velocity (np.ndarray) – Velocity vector.

  • step_time (float) – Time step for simulation.

Returns:

Next state.

Return type:

np.ndarray

class irsim.lib.handler.kinematics_handler.OmniKinematics(name, noise, alpha)[source]#

Bases: KinematicsHandler

Abstract base class for handling robot kinematics.

Initialize the KinematicsHandler class.

Parameters:

  • noise (bool) – Boolean indicating whether to add noise to the velocity (default False).

  • alpha (list) – List of noise parameters for the velocity model (default [0.03, 0, 0, 0.03]).

step(state: numpy.ndarray, velocity: numpy.ndarray, step_time: float) → numpy.ndarray[source]#

Calculate the next state using the kinematics model.

Parameters:

  • state (np.ndarray) – Current state.

  • velocity (np.ndarray) – Velocity vector.

  • step_time (float) – Time step for simulation.

Returns:

Next state.

Return type:

np.ndarray

class irsim.lib.handler.kinematics_handler.DifferentialKinematics(name, noise, alpha)[source]#

Bases: KinematicsHandler

Abstract base class for handling robot kinematics.

Initialize the KinematicsHandler class.

Parameters:

  • noise (bool) – Boolean indicating whether to add noise to the velocity (default False).

  • alpha (list) – List of noise parameters for the velocity model (default [0.03, 0, 0, 0.03]).

step(state: numpy.ndarray, velocity: numpy.ndarray, step_time: float) → numpy.ndarray[source]#

Calculate the next state using the kinematics model.

Parameters:

  • state (np.ndarray) – Current state.

  • velocity (np.ndarray) – Velocity vector.

  • step_time (float) – Time step for simulation.

Returns:

Next state.

Return type:

np.ndarray

class irsim.lib.handler.kinematics_handler.AckermannKinematics(name, noise: bool = False, alpha: list | None = None, mode: str = 'steer', wheelbase: float = 1.0)[source]#

Bases: KinematicsHandler

Abstract base class for handling robot kinematics.

Initialize the KinematicsHandler class.

Parameters:

  • noise (bool) – Boolean indicating whether to add noise to the velocity (default False).

  • alpha (list) – List of noise parameters for the velocity model (default [0.03, 0, 0, 0.03]).

mode = 'steer'#
wheelbase = 1.0#
step(state: numpy.ndarray, velocity: numpy.ndarray, step_time: float) → numpy.ndarray[source]#

Calculate the next state using the kinematics model.

Parameters:

  • state (np.ndarray) – Current state.

  • velocity (np.ndarray) – Velocity vector.

  • step_time (float) – Time step for simulation.

Returns:

Next state.

Return type:

np.ndarray

class irsim.lib.handler.kinematics_handler.KinematicsFactory[source]#

Factory class to create kinematics handlers.

static create_kinematics(name: str | None = None, noise: bool = False, alpha: list | None = None, mode: str = 'steer', wheelbase: float | None = None, role: str = 'robot') → KinematicsHandler[source]#