irsim.lib.handler.geometry_handler

Classes

geometry_handler	This class is used to handle the geometry of the object. It reads the shape parameters from yaml file and constructs the geometry of the object.
CircleGeometry	This class is used to handle the geometry of the object. It reads the shape parameters from yaml file and constructs the geometry of the object.
PolygonGeometry	This class is used to handle the geometry of the object. It reads the shape parameters from yaml file and constructs the geometry of the object.
RectangleGeometry	This class is used to handle the geometry of the object. It reads the shape parameters from yaml file and constructs the geometry of the object.
LinestringGeometry	This class is used to handle the geometry of the object. It reads the shape parameters from yaml file and constructs the geometry of the object.
PointsGeometry	This class is used to handle the geometry of the object. It reads the shape parameters from yaml file and constructs the geometry of the object.
geometry_handler3d	This class is used to handle the 3D geometry of the object. It reads the shape parameters from yaml file and constructs the geometry of the object.
GeometryFactory	Factory class to create geometry handlers.

Module Contents

class irsim.lib.handler.geometry_handler.geometry_handler(name: str, **kwargs)

Bases: abc.ABC

This class is used to handle the geometry of the object. It reads the shape parameters from yaml file and constructs the geometry of the object.

name

geometry

wheelbase

abstractmethod construct_original_geometry(**kwargs)

Construct the original geometry of the object when the state is in the origin of coordinates.

参数:

**kwargs -- shape parameters

Returns: Geometry of the object

step(state)

Transform geometry to the new state.

参数:

state (np.ndarray) -- State vector [x, y, theta].

返回:

Transformed geometry.

返回类型:

shapely.geometry.base.BaseGeometry

get_init_Gh()

Generate initial G and h for convex object.

返回:

• G matrix: (N, 2)

• h vector: (N, 1)

• cone_type (str): "norm2" for circle or "Rpositive" for polygon

• convex_flag (bool): whether convex constraints are valid

返回类型:

tuple[np.ndarray, np.ndarray, str | None, bool | None]

get_Gh(**kwargs)

get_polygon_Gh(vertices: numpy.ndarray | None = None)

Generate G and h for convex polygon.

参数:

vertices -- (2, N), N: Edge number of the object

返回:

• G matrix: (N, 2)

• h vector: (N, 1)

• cone_type (str): "Rpositive" for polygon

• convex_flag (bool): whether convex constraints are valid

返回类型:

tuple[np.ndarray | None, np.ndarray | None, str | None, bool]

get_circle_Gh(center: numpy.ndarray, radius: float)

Generate G and h for circle.

参数:

• center -- (2, 1) array of center

• radius -- float of radius

返回:

• G matrix: (3, 2)

• h vector: (3, 1)

• cone_type (str): "norm2"

• convex_flag (bool): True

返回类型:

tuple[np.ndarray, np.ndarray, str, bool]

cal_length_width(geometry)

property vertices

property init_vertices

[[x1, y1], [x2, y2].... [[x1, y1]]]; [x1, y1] will repeat twice

Type:

return original_vertices

property original_vertices: numpy.ndarray | None

Get the original vertices of the geometry.

property original_centroid: numpy.ndarray

Get the original centroid of the geometry.

返回:

The original centroid of the geometry.

返回类型:

np.ndarray

property radius

class irsim.lib.handler.geometry_handler.CircleGeometry(name: str = 'circle', **kwargs)

Bases: geometry_handler

This class is used to handle the geometry of the object. It reads the shape parameters from yaml file and constructs the geometry of the object.

construct_original_geometry(radius: float = 0.2, center: list | None = None, random_shape: bool = False, radius_range: list | None = None, wheelbase: float | None = None)

Construct the original geometry of the object when the state is in the origin of coordinates.

参数:

**kwargs -- shape parameters

Returns: Geometry of the object

class irsim.lib.handler.geometry_handler.PolygonGeometry(name: str = 'polygon', **kwargs)

Bases: geometry_handler

This class is used to handle the geometry of the object. It reads the shape parameters from yaml file and constructs the geometry of the object.

construct_original_geometry(vertices=None, random_shape: bool = False, is_convex: bool = False, **kwargs)

Construct a polygon geometry.

参数:

• vertices -- [[x1, y1], [x2, y2]..]

• random_shape -- whether to generate random shape, default is False

• is_convex -- whether to generate convex shape, default is False

• **kwargs -- see random_generate_polygon()

返回:

Polygon object

class irsim.lib.handler.geometry_handler.RectangleGeometry(name: str = 'rectangle', **kwargs)

Bases: geometry_handler

This class is used to handle the geometry of the object. It reads the shape parameters from yaml file and constructs the geometry of the object.

construct_original_geometry(length: float = 1.0, width: float = 1.0, wheelbase: float | None = None)

Args

length: in x axis width: in y axis wheelbase: for ackermann robot

class irsim.lib.handler.geometry_handler.LinestringGeometry(name: str = 'linestring', **kwargs)

Bases: geometry_handler

This class is used to handle the geometry of the object. It reads the shape parameters from yaml file and constructs the geometry of the object.

construct_original_geometry(vertices, random_shape: bool = False, is_convex: bool = True, **kwargs)

Construct a LineString object.

参数:

• vertices -- [[x1, y1], [x2, y2]..]

• random_shape -- whether to generate random shape, default is False

• is_convex -- whether to generate convex shape, default is False

• **kwargs -- see random_generate_polygon()

返回:

LineString object

class irsim.lib.handler.geometry_handler.PointsGeometry(name: str = 'map', **kwargs)

Bases: geometry_handler

This class is used to handle the geometry of the object. It reads the shape parameters from yaml file and constructs the geometry of the object.

construct_original_geometry(points: numpy.ndarray, reso: numpy.ndarray | float = 0.1, **kwargs)

参数:

• points -- (2, N) array of points

• reso -- resolution — either a (2, 1) array [x_reso, y_reso] or a scalar applied to both axes

class irsim.lib.handler.geometry_handler.geometry_handler3d(name: str, **kwargs)

Bases: abc.ABC

This class is used to handle the 3D geometry of the object. It reads the shape parameters from yaml file and constructs the geometry of the object.

name

geometry

wheelbase

abstractmethod construct_original_geometry(**kwargs)

step(state)

Transform geometry to the new state.

参数:

state (np.ndarray 6*1) -- [x, y, z, roll, pitch, roll].

返回:

Transformed geometry.

class irsim.lib.handler.geometry_handler.GeometryFactory

Factory class to create geometry handlers.

static create_geometry(name: str = 'circle', **kwargs) → geometry_handler