irsim.world.obstacles.obstacle_acker

Classes

ObstacleAcker

Ackermann-steered obstacle.

Module Contents

class irsim.world.obstacles.obstacle_acker.ObstacleAcker(color='k', state_dim=4, **kwargs)

Bases: irsim.world.object_base.ObjectBase

Ackermann-steered obstacle.

自 Use 版本弃用: ObjectBase with kinematics={'name': 'acker'}, role='obstacle' 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

备注

All parameters are documented in the class docstring above. Refer to the ObjectBase class documentation for detailed parameter descriptions.

抛出:

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