Sensing

class BufferDescription

Describes a typed, bounded, multi-dimensional buffer.

Mimics Gymnasium Box spaces (https://gymnasium.farama.org/api/spaces/).

__init__(shape: list[int] = [], dtype: object = 'float', low: float = 2.2250738585072014e-308, high: float = 1.7976931348623157e+308, categorical: bool = False) → None

Constructs a new instance.

Parameters:

• shape – The shape

• type – The type

• low – The low

• high – The high

• categorical – The categorical

property categorical

Type:

bool

Whether the [integer] data is categorical or not.

property high

Type:

float

The upper limits

property low

Type:

float

The lower limits

property shape

Type:

tuple

The shape of the buffer

property strides

Type:

list[int]

The strides.

property type

Type:

numpy.dtype

A code that identify the type of data.

class Buffer

A typed, bounded, multi-dimensional array, similar to numpy arrays.

__init__(description: navground.core.BufferDescription | None = None, data: object = None) → None

Constructs a new instance.

Parameters:

• description (navground.core.BufferDescription | None) – The description

• data (object) – Optional data to initialize the buffer. If provided, it will overwrite data initialized from the description. Else the buffer will be initialized with zeros. Accepts any type supporting the buffer protocol.

set_description(value: navground.core.BufferDescription, force: bool = False) → bool

Sets the description.

If force is set, it will set the description and possibly reset the buffer if the type or size have changed. If force is not set, it won’t allow changing shape to a different size or type to a different type.

Parameters:

• value – The value

• force – Whenever data may be reset.

Returns:

Whether the description was set or not.

property categorical

Type:

bool

Whether buffer is categorical.

property data

Type:

numpy.ndarray

The data stored in the buffer

property description

Type:

navground.core.BufferDescription

The description.

property high

Type:

float

The upper bound.

property low

Type:

float

The lower bound.

property shape

Type:

tuple

The shape.

property size

Type:

int

The buffer size

property type

Type:

numpy.dtype

The buffer type

class BufferMap

A dictionary of type Dict[str, Buffer]

class SensingState

Generic state to hold data from sensors in keyed buffers.

__init__() → None

Construct an instance

get_buffer(key: str) → navground.core.Buffer

Gets the buffer assigned to a key

Parameters:

key – The key

Returns:

The buffer.

init_buffer(key: str, description: navground.core.BufferDescription | None = None, data: object = None) → navground.core.Buffer

Initializes a buffer.

Parameters:

• key (str) – The key

• description (navground.core.BufferDescription | None) – The description

• data (object) – Optional data to initialize the buffer. If provided, it will overwrite data initialized from the description. Else the buffer will be initialized with zeros. Accept any type supporting the buffer protocol.

Returns:

The buffer if successfully initialized else a null pointer

Return type:

navground.core.Buffer | None

set_buffer(key: str, buffer: navground.core.Buffer) → None

Assign a buffer to a key.

Parameters:

• key – The key

• value – The value

property buffers

Type:

navground.core.BufferMap

The buffers.