Behavior Group

class BehaviorGroup

Behavior group holds a list of behaviors for which they compute control commands at once.

compute_cmds(time_step: float) → list[navground.core.Twist2]

Calculates the commands for all behaviors at once.

Commands should (but not strictly required) be feasible.

This method is called each time the behavior at the first index requires a command.

Users must override this method to define a BehaviorGroup.

Parameters:

time_step – The time step

Returns:

The commands.

property members

Type:

list[navground.core.Behavior]

The members of the group.

property size

Type:

int

The size of the group

class BehaviorGroupMember

Members of a behavior group delegate the computation of their control commands to the group.

Warning

Users must call Behavior.prepare() before the first call to Behavior.compute_cmd() to setup the group and call Behavior.close() after the last call to tear it down.

get_group_hash() → int

Gets the key associated to the group.

Users can specialize this method when defining a new group/member pair. The default implementation returns 0, i.e., it groups all behaviors together.

Returns:

The hash key.

get_groups() → dict

Returns all groups.

Users must specialize this method when defining a new group/member pair.

Returns:

All groups.

make_group() → object

Makes a group.

Users must specialize this method when defining a new group/member pair.

Returns:

The new group