Marker

class MarkerStateEstimation

A sensor that report the position of a marker relative to the agent.

Registered properties:

• marker_position (float, marker_position)

• reference_orientation (str, reference_orientation)

• min_x (float, min_x)

• min_y (float, min_y)

• max_x (float, max_x)

• max_y (float, max_y)

• include_x (int, include_x)

• include_y (int, include_y)

class ReferenceOrientation

ReferenceOrientation.target_direction = <ReferenceOrientation.target_direction: 0>

target orientation

ReferenceOrientation.agent = <ReferenceOrientation.agent: 1>

agent frame

ReferenceOrientation.world = <ReferenceOrientation.world: 2>

world frame

ReferenceOrientation.__init__(value: int) → None

property ReferenceOrientation.name

Type:

str

__init__(marker_position: Vector2 = array([0., 0.], dtype=float32), reference_orientation: ReferenceOrientation = <ReferenceOrientation.agent: 1>, min_x: float = -inf, min_y: float = -inf, max_x: float = inf, max_y: float = inf, include_x: bool = True, include_y: bool = True, name: str = '') → None

Constructs a new instance.

Parameters:

• marker_position – The marker position in the world frame.

• reference_orientation – The reference frame used for orientation

• min_x – The minimal x-coordinate

• min_y – The minimal y-coordinate

• max_x – The maximal x-coordinate

• max_y – The maximal y-coordinate

• include_x – Whether to include the x-coordinate

• include_y – Whether to include the y-coordinate

• name – The name to use as a prefix

read_marker_position(state: navground.core.SensingState) → Vector2 | None

Reads the marker position from a SensingState

Calls read_marker_position_with_name, passing Sensor.name.

Parameters:

state – The state

Returns:

A position or null if none was found.

static read_marker_position_with_name(state: navground.core.SensingState, name: str) → Vector2 | None

Reads the marker position from a SensingState

Parameters:

• state – The state

• name – The namespace of the sensor

Returns:

A position or null if none was found.

update_marker(agent: navground.sim.NativeAgent, world: navground.sim.NativeWorld) → None

Runs an update

Like update() but without writing a SensingState.

Parameters:

• agent – The agent

• world – The world

property bounding_box

Type:

navground.sim.BoundingBox

The bounding box

property include_x

Type:

bool

Whether to include the x-coordinate.

property include_y

Type:

bool

Whether to include the y-coordinate.

property marker_position

Type:

Vector2

The marker position in the world frame. rangings.

property max_x

Type:

float

The highest bound on the x-coordinate.

property max_y

Type:

float

The highest bound on the y-coordinate.

property measured_marker_position

Type:

Vector2

Computes the relative marker pose.

property min_x

Type:

float

The lowest bound on the x-coordinate.

property min_y

Type:

float

The lowest bound on the y-coordinate.

property reference_orientation

Type:

ReferenceOrientation

The reference frame used for orientation.