irsim.lib.handler

Handler classes for IR-SIM simulation.

This package contains factory classes for: - kinematics_handler: Kinematics factory - geometry_handler: Geometry factory

Submodules

• irsim.lib.handler.geometry_handler
• irsim.lib.handler.kinematics_handler

Classes

GeometryFactory	Factory class to create geometry handlers.
KinematicsFactory	Factory class to create kinematics handlers.

Package Contents

class irsim.lib.handler.GeometryFactory

Factory class to create geometry handlers.

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

class irsim.lib.handler.KinematicsFactory

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

static get_handler_class(name: str) → type[KinematicsHandler] | None

Look up a registered handler class by name without instantiation.

参数:

name (str) -- Kinematics name (e.g. "diff", "omni").

返回:

The class, or None if not found.

返回类型:

type[KinematicsHandler] | None