Discs

class DiscsStateEstimation

Perceive a fixed number of nearest neighbors and obstacles

Empty places are filled with zeros

Registered properties:

• range (float, range)

• number (int, number)

• max_radius (int, max_radius)

• max_speed (int, max_speed)

• include_valid (bool, include_valid)

• use_nearest_point (bool, use_nearest_point)

• max_id (int, max_id)

• include_x (int, include_x)

• include_y (int, include_y)

__init__(range: float = 1.0, number: int = 1, max_radius: float = 0, max_speed: float = 0, include_valid: bool = True, use_nearest_point: bool = True, max_id: int = 0, include_x: bool = True, include_y: bool = True, name: str = '') → None

Constructs a new instance.

Parameters:

• range – The range of view

• number – Number of discs

• max_radius – Maximal neighbor radius

• max_speed – Maximal neighbor speed

• include_valid – Whether to include validity

• use_nearest_point – Whether to use nearest point as position

• max_id – Maximal neighbor id

• include_x – Whether to include the x-coordinate

• include_y – Whether to include the y-coordinate

• name – The name to use as a prefix

property include_valid

Type:

bool

Whether to include validity.

property include_x

Type:

bool

Whether to include the x-coordinate.

property include_y

Type:

bool

Whether to include the y-coordinate.

property max_id

Type:

int

The maximal possible id.

property max_radius

Type:

float

The maximal neighbor radius.

property max_speed

Type:

float

The maximal neighbor speed.

property number

Type:

int

The number of discs.

property range

Type:

float

The range of view.

property use_nearest_point

Type:

bool

Whether to use the nearest or the center as position