Lidar

class LidarStateEstimation

A distance scanner.

Registered properties:

• range (float, range)

• start_angle (float, start_angle)

• field_of_view (float, field_of_view)

• resolution (float, resolution)

• position (Vector2, position)

• error_bias (float, error_bias)

• error_std_dev (float, error_std_dev)

class Scan

Holds a Lidar scan

__init__(*args, **kwargs)

property fov

Type:

float

The field of view

property max_range

Type:

float

The maximal range

property ranges

Type:

list[float]

The range readings.

property start_angle

Type:

float

The starting angle

__init__(range: float = 0.0, start_angle: float = -3.1415927410125732, field_of_view: float = 6.2831854820251465, resolution: int = 100, position: Vector2 = array([0., 0.], dtype=float32), error_bias: float = 0, error_std_dev: float = 0, name: str = '') → None

Constructs a new instance.

Parameters:

• range – The maximal range of the sensor

• start_angle – The starting angle

• field_of_view – The field of view

• resolution – The number of ranging measurements per scan

• position – The position of the sensor with respect to the agent origin.

• error_bias – The systematic error for all rangings.

• error_std_dev – The rangings error standard deviation.

• name – The name to use as a prefix

read_ranges(state: navground.core.SensingState) → list[float]

Reads the ranges stored in a sensing state

Calls read_ranges_with_name, passing Sensor.name.

Parameters:

state – The state

Returns:

The array of ranges

static read_ranges_with_name(state: navground.core.SensingState, name: str) → list[float]

Reads a ranges stored in a sensing state

Parameters:

• state – The state

• name – The namespace of the ranges

Returns:

An array of ranges or null if none were found.

read_scan(state: navground.core.SensingState) → navground.sim.LidarStateEstimation.Scan | None

Reads a scan from a SensingState

Call read_scan_with_name, passing Sensor.name.

Parameters:

state – The state

Returns:

A scan or null if none was found.

static read_scan_with_name(state: navground.core.SensingState, name: str) → navground.sim.LidarStateEstimation.Scan | None

Reads a scan from a SensingState

Parameters:

• state – The state

• name – The namespace of the scan

Returns:

A scan or null if none was found.

property angles

Type:

list[float]

The ray angles.

property angular_increment

Type:

float

The angular increment between rays.

property error_bias

Type:

float

The error bias, i.e., the systematic error for all rangings.

property error_std_dev

Type:

float

The rangings error standard deviation.

property field_of_view

Type:

float

The range of view.

property position

Type:

Vector2

The position of the sensor with respect to the agent origin.

property range

Type:

float

The range of view.

property resolution

Type:

int

The range of view.

property start_angle

Type:

float

The range of view.