Probes

class Probe

The base class for all probes.

Probes are callbacks called at the begin, at the end, and during each simulation step of an ExperimentalRun.

Concrete classes should overwrite prepare(), update(), and/or finalize() as the base class does nothing.

finalize(run: navground.sim.ExperimentalRun) → None

Called at end of a simulation run

Parameters:

run – The run

prepare(run: navground.sim.ExperimentalRun) → None

Called at the begin of a simulation run.

Parameters:

run – The run

update(run: navground.sim.ExperimentalRun) → None

Called at each simulation step

Parameters:

run – The run

class RecordProbe

Base class for probes that records numerical data on a single dataset, possibly to be saved in HDF5.

Subclasses are expected to overwrite Probe.update(), get_shape() and to redefine Type.

get_shape(world: navground.sim.NativeWorld) → list[int]

Gets the item shape that the record should use, see Dataset.item_shape.

Subclasses should overwrite it to configure their records.

Parameters:

world – The world being simulated

Returns:

The shape

property data

Type:

navground.sim.Dataset

The data.

class GroupRecordProbe

Base class for probes that record a group of datasets, possibly to be saved in HDF5. Records are keyed by strings.

Sub-classes are expected to override Probe.update(), get_shapes() and to redefine Type.

get_data(key: str) → navground.sim.Dataset

Gets the recorded data, possibly after instanting a dataset if none is yet associated to the key.

Parameters:

key – The key

Returns:

The data.

get_shapes(world: navground.sim.NativeWorld, use_agent_uid_as_key: bool) → dict[str, list[int]]

Gets the item shapes that the records should use, see Dataset.item_shape.

Subclasses should overwrite it to configure their records.

Parameters:

• world – The world being simulated

• use_agent_uid_as_key – Whether to use the agent uid a key. If not set, it will use the the agent index instead.

Returns:

The shapes