irsim.config.palette_param
==========================

.. py:module:: irsim.config.palette_param

.. autoapi-nested-parse::

   Default colors of everything IR-SIM draws.

   The values are Okabe-Ito based (with a second green from Paul Tol's muted
   scheme), so they stay distinguishable under common forms of colour-vision
   deficiency and keep robots, sensors and obstacles apart in grayscale print.
   Any color given in YAML or code overrides them. They are read when an object
   or a plot is created, so changing them before ``irsim.make()`` restyles every
   following scene::

       from irsim.config import palette_param

       palette_param.robot = "#0072B2"
       palette_param.cycle = ["#0072B2", "#D55E00", "#009E73"]

   :ivar robot: Robots with ``diff``, ``omni``, ``omni_angular`` or custom kinematics.
   :ivar robot_acker: Car-like (``acker``) robots.
   :ivar obstacle: Obstacles, grid maps and any object without a role color.
   :ivar pushable: Pushable objects (finite ``mass``, not static) without
                   kinematics, which only move when ``collision_mode: contact`` pushes
                   them, so they stand out from static obstacles.
   :ivar arrow: Heading arrow drawn on top of a body.
   :ivar fov: Field-of-view fill.
   :ivar fov_edge: Field-of-view outline.
   :ivar lidar: Lidar beams.
   :ivar laser_highlight: Beams singled out with ``set_laser_color``.
   :ivar fmcw_zero_velocity: FMCW beams with no radial velocity.
   :ivar fmcw_positive_velocity: FMCW beams moving away.
   :ivar fmcw_negative_velocity: FMCW beams moving closer.
   :ivar marker: Points drawn with ``env.draw_points``.
   :ivar path: Lines drawn with ``env.draw_trajectory`` and ``env.draw_box``.
   :ivar quiver: Arrows drawn with ``env.draw_quiver``.
   :ivar cycle: Colors handed out in turn to the objects of a group configured with
                ``color: 'cycle'``; it starts with the robot color so a single robot
                looks the same either way.




Attributes
----------

.. autoapisummary::

   irsim.config.palette_param.DEFAULT_CYCLE


Classes
-------

.. autoapisummary::

   irsim.config.palette_param.PaletteParam


Functions
---------

.. autoapisummary::

   irsim.config.palette_param.bind


Module Contents
---------------

.. py:data:: DEFAULT_CYCLE
   :value: ('#009E73', '#0072B2', '#E69F00', '#CC79A7', '#56B4E9', '#D55E00', '#F0E442', '#117733')


.. py:class:: PaletteParam

   Default colors, one attribute per kind of drawing (see the module docstring).


   .. py:attribute:: robot
      :type:  str
      :value: '#009E73'



   .. py:attribute:: robot_acker
      :type:  str
      :value: '#117733'



   .. py:attribute:: obstacle
      :type:  str
      :value: 'k'



   .. py:attribute:: pushable
      :type:  str
      :value: '#E69F00'



   .. py:attribute:: arrow
      :type:  str
      :value: '#F0E442'



   .. py:attribute:: fov
      :type:  str
      :value: '#56B4E9'



   .. py:attribute:: fov_edge
      :type:  str
      :value: '#0072B2'



   .. py:attribute:: lidar
      :type:  str
      :value: '#CC3311'



   .. py:attribute:: laser_highlight
      :type:  str
      :value: '#56B4E9'



   .. py:attribute:: fmcw_zero_velocity
      :type:  str
      :value: '#56B4E9'



   .. py:attribute:: fmcw_positive_velocity
      :type:  str
      :value: '#CC3311'



   .. py:attribute:: fmcw_negative_velocity
      :type:  str
      :value: '#0072B2'



   .. py:attribute:: marker
      :type:  str
      :value: '#CC79A7'



   .. py:attribute:: path
      :type:  str
      :value: '#0072B2'



   .. py:attribute:: quiver
      :type:  str
      :value: 'k'



   .. py:attribute:: cycle
      :type:  list[str]
      :value: ['#009E73', '#0072B2', '#E69F00', '#CC79A7', '#56B4E9', '#D55E00', '#F0E442', '#117733']



   .. py:method:: cycle_color(index: int) -> str

      Color of the ``index``-th object of a group drawn with ``color: 'cycle'``.



.. py:function:: bind(instance: PaletteParam) -> None

   Bind instance to default index 0 and update current alias.