irsim.world.robots

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

• irsim.world.robots.robot_acker
• irsim.world.robots.robot_diff
• irsim.world.robots.robot_omni

Classes

RobotAcker	Ackermann-steered robot.
RobotDiff	Differential-drive robot.
RobotOmni	Omnidirectional robot.

Package Contents

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

Bases: irsim.world.object_base.ObjectBase

Ackermann-steered robot.

Deprecated since version 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 ObjectBase class documentation for detailed parameter descriptions.

Raises:

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

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

Bases: irsim.world.object_base.ObjectBase

Differential-drive robot.

Deprecated since version 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 ObjectBase class documentation for detailed parameter descriptions.

Raises:

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

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

Bases: irsim.world.object_base.ObjectBase

Omnidirectional robot.

Deprecated since version 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 ObjectBase class documentation for detailed parameter descriptions.

Raises:

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