Geometric

class LineSegment

A static obstacle of linear shape.

__init__(p1: Vector2, p2: Vector2) → None

Constructs a new instance.

Parameters:

• p1 – The first vertex

• p2 – The second vertex

distance_along(point: Vector2, direction: Vector2, orientation: int = 0) → float

Computes the free distance along a ray before possibly colliding

Parameters:

• point – The ray origin

• direction – The ray direction

• orientation – The ray orientation

Returns:

The free distance along the ray before colliding with this line or -1 if no collision will happen.

distance_from_disc(disc: navground.core.Disc, penetration: bool = False) → float

distance_from_point(point: Vector2) → float

dump() → str

Dumps the object to a YAML-string.

Returns:

The YAML representation

Return type:

str

static load(value: str) → object

Load a line from a YAML string.

Parameters:

value – the YAML string.

Returns:

The loaded line or None if loading fails.

Return type:

LineSegment| None

static schema() → object

Returns the json-schema

Returns:

json-schema

Return type:

dict[str, typing.Any]

property e1

Type:

Vector2

The unit vector along the segment

property e2

Type:

Vector2

The unit vector perpendicular to the segment. Oriented to the left with respect to e1

property length

Type:

float

The segment length

property p1

Type:

Vector2

The position of the first vertex

property p2

Type:

Vector2

The position of the second vertex

class Disc

A circular shape. Used to represent obstacles.

__init__(position: Vector2, radius: float) → None

Constructs a new instance.

Parameters:

• position – The position

• radius – The radius

distance(other: navground.core.Disc) → float

Returns the signed distance to another disc. Negative if the discs overlaps.

Parameters:

other – The other disc

Returns:

The distance between the centers minus the radii.

dump() → str

Dumps the object to a YAML-string.

Returns:

The YAML representation

Return type:

str

static load(value: str) → object

Load a disc from a YAML string.

Parameters:

value – the YAML string.

Returns:

The loaded disc or None if loading fails.

Return type:

Disc| None

static schema() → object

Returns the json-schema

Returns:

json-schema

Return type:

dict[str, typing.Any]

property position

Type:

Vector2

The center of the disc in world frame

property radius

Type:

float

Radius

class Neighbor

A neighbor agent of circular shape.

__init__(position: Vector2, radius: float, velocity: Vector2 = (0, 0), id: int = 0) → None

Constructs a new instance.

Parameters:

• position – The position

• radius – The radius

• velocity – The velocity

• id – The identifier

dump() → str

Dumps the object to a YAML-string.

Returns:

The YAML representation

Return type:

str

static load(value: str) → object

Load a neighbor from a YAML string.

Parameters:

value – the YAML string.

Returns:

The loaded neighbor or None if loading fails.

Return type:

Neighbor| None

relative_to(reference: navground.core.Pose2) → navground.core.Neighbor

Returns the same neighbor in a frame relative to a pose.

Parameters:

reference – The reference pose

Returns:

The neighbor with transformed position and velocity

static schema() → object

Returns the json-schema

Returns:

json-schema

Return type:

dict[str, typing.Any]

property id

Type:

int

An identifier for the id of agents or the individual agent. The interpretation is up to the behavior.

property velocity

Type:

Vector2

The velocity

class GeometricState

__init__() → None

property line_obstacles

Type:

list[navground.core.LineSegment]

The current list of line obstacles. positions are in the world fixed frame.

property neighbors

Type:

list[navground.core.Neighbor]

The current list of neighbors. positions are in the world fixed frame.

property static_obstacles

Type:

list[navground.core.Disc]

The current list of static obstacles. positions are in the world fixed frame.