YAML

The Python bindings only exposed part of the public functionality described in the YAML cpp reference. In particular, you can load registered components and dump them to YAML.

load_behavior(value: str) → Behavior | None

load(value: str) -> object

Load a behavior from a YAML string.

Parameters:

value – the YAML string.

Returns:

The loaded behavior or None if loading fails.

Return type:

Behavior| None

load_behavior_modulation(value: str) → BehaviorModulation | None

load(value: str) -> object

Load a modulation from a YAML string.

Parameters:

value – the YAML string.

Returns:

The loaded modulation or None if loading fails.

Return type:

BehaviorModulation| None

load_kinematics(value: str) → Kinematics | None

load(value: str) -> object

Load a kinematics from a YAML string.

Parameters:

value – the YAML string.

Returns:

The loaded kinematics or None if loading fails.

Return type:

Kinematics| None

dump(obj: Behavior | BehaviorModulation | Kinematics | Disc | LineSegment | Neighbor) → str

Dumps the object to a YAML-string.

Returns:

The YAML representation

Return type:

str

Note

Functions load_<component>() and methods <Component>.load() are equivalent, like for example navground.core.load_behavior() and navground.core.Behavior.load().

Similar is valid for function navground.core.dump() and methods <Component>.dump(), such as navground.core.Behavior.dump().

Schema

Moreover, we expose methods that return JSON Schema for all supported types (Class.schema, Component.register_schema), and a function that generate the bundle schema used for validation in validate.

module:

navground.core.schema

type Schema = dict[str, Any]

type SchemaModifier = Callable[[Schema], None]

register(modifier: SchemaModifier) → staticmethod[[Schema], None]

Register a custom JSON-schema for a class

Use it as:

>>> class MyClass(Class, name=...):
>>>
>>> @schema.register
>>> def modifier(schema: dict[str, typing.Any]) -> None:
>>>     ...

Parameters:

modifier – A modifier

Returns:

The registered static method

Return type:

staticmethod

bundle()

bundle_schema() -> object

Returns the bundle json-schema

Returns:

json-schema

Return type:

dict[str, typing.Any]