Register

For each C++ template class navground::core::HasRegister, we expose a Python class with name ending by Register, which serves as super-classes for their respective T class.

Python sub-classes of T by adding name=<name> to the class, where the <name> is an arbitrary string that will index the sub-class in the register. For example,

SubClassOfT(T, name="SubClassOfT"):
   ...

will register type SubClassOfT under the name "SubClassOfT".

type T = TypeVar('T', bound=Any)

@register(default_value: PropertyField, description: str = '', schema: Callable[[dict[str, Any]], None] | None = None, deprecated_names: Collection[str] = (), scalar_type_name: str = '', type_safe: bool = False) → Callable[[T], T]

A decorator to register a property. It must be used below the @property decorator.

For example, the following code adds a boolean valued registered property to a registered sub-class C of class T:

class C(T, name="C"):

    def __init__(self):
        T.__init__(self)
        self._my_field = True

    @property
    @register(True, "...")
    def my_property(self) -> bool:
        return self._my_field;

    @my_property.setter
    def my_property(self, value: bool) -> None:
        self._my_field = value;

Note

The setter of registered properties is wrapped to guarantee that is is called only with arguments of the property type (e.g., py:type:bool in the example above).

In the example above, trying to set the property using

c = C()
c.my_property = 'a'

or

c.set('my_property', 'a'')

has no effect.

You can disable this argument coercion by setting the environment variable NAVGROUND_DISABLE_PY_PROPERTY_COERCION (before navground is initialized) or by passing type_safe=True.

Parameters:

• default_value – The default value of the property when the object is initialized

• description – The description of the property

• schema – A optional schema to add validity constrains to the property

• deprecated_names – A list of alternative deprecated names

• scalar_type_name – The property scalar type name: one of “int”, “float”, “bool”, “str, “vector”. If not provided it will infer it from the type hints and/or the default value type.

• type_safe – Whether the setter is type safe and therefore does not require checking/coercing the argument.

class BehaviorRegister

This register holds any behavior registered in navground::core::HasRegister as well as registered Python sub-classes of navground.Behavior.

class property types: list[str]

The names of all registered behaviors

class property type_properties: Dict[str, Dict[str, Property]]

The dictionary of registered properties with registered names as keys

class KinematicsRegister

This register holds any kinematics registered in navground::core::HasRegister as well as registered Python sub-classes of navground.Kinematics.

class property types: list[str]

The names of all registered kinematics.

class property type_properties: Dict[str, Dict[str, Property]]

The dictionary of registered properties with registered names as keys

class BehaviorModulationRegister

This register holds any modulation registered in navground::core::HasRegister as well as registered Python sub-classes of navground.core.BehaviorModulation.

class property types: list[str]

The names of all registered modulations.

class property type_properties: Dict[str, Dict[str, Property]]

The dictionary of registered properties with registered names as keys