irsim.world.map.perlin_map_generator#

Perlin noise based 2D grid map generator for robot navigation.

Generates procedural occupancy grids using Perlin noise. Parameter semantics (complexity, fill, fractal, attenuation) follow the map generation used in GCOPTER (ZJU-FAST-Lab/GCOPTER). Pure NumPy implementation.

Attributes#

pmap

Classes#

PerlinGridGenerator

Perlin noise based 2D occupancy grid map.

Functions#

generate_perlin_noise(→ numpy.ndarray)

Generate 2D Perlin noise array.

Module Contents#

irsim.world.map.perlin_map_generator.generate_perlin_noise(width: int, height: int, complexity: float = 0.142857, fractal: int = 1, attenuation: float = 0.5, seed: int | None = None) → numpy.ndarray[源代码]#

Generate 2D Perlin noise array.

Parameter semantics follow GCOPTER map_gen (see ZJU-FAST-Lab/GCOPTER).

参数:

  • width (int) -- Output width in grid cells.

  • height (int) -- Output height in grid cells.

  • complexity (float) -- Base noise frequency. Default 0.142857.

  • fractal (int) -- Number of octave layers. Default 1. Must be >= 1.

  • attenuation (float) -- Amplitude for layer k is attenuation / (k + 1). Default 0.5. Must be > 0.

  • seed (int | None) -- Random seed for reproducibility.

返回:

Noise array of shape (width, height), values in [0, 1].

返回类型:

np.ndarray

抛出:

ValueError -- If fractal < 1 or attenuation <= 0.

class irsim.world.map.perlin_map_generator.PerlinGridGenerator(width: int, height: int, complexity: float = 0.142857, fill: float = 0.38, fractal: int = 1, attenuation: float = 0.5, seed: int | None = None)[源代码]#

Bases: irsim.world.map.grid_map_generator_base.GridMapGenerator

Perlin noise based 2D occupancy grid map.

Holds width, height, and a grid of occupancy values (0-100; values > 50 are obstacles). Parameter semantics follow GCOPTER map_gen (ZJU-FAST-Lab/GCOPTER). Output can be saved as PNG for use with World.gen_grid_map().

Initialize map parameters.

参数:

  • width (int) -- Map width in grid cells.

  • height (int) -- Map height in grid cells.

  • complexity (float) -- Base noise frequency. Default 0.142857.

  • fill (float) -- Obstacle ratio in [0, 1]. Default 0.38.

  • fractal (int) -- Number of octave layers. Default 1. Must be >= 1.

  • attenuation (float) -- Amplitude decay per octave. Default 0.5. Must be > 0.

  • seed (int | None) -- Random seed for reproducibility.

name = 'perlin'#
yaml_param_names = ('complexity', 'fill', 'fractal', 'attenuation', 'seed')#
width#
height#
complexity = 0.142857#
fill = 0.38#
fractal = 1#
attenuation = 0.5#
seed = None#
preview(title: str = 'Perlin 2D Map', cmap: str = 'gray_r') → None[源代码]#

Preview the grid with matplotlib.

irsim.world.map.perlin_map_generator.pmap#