PyLidar

An alternative implementation to navground.sim.state_estimations.LidarStateEstimation to provide an example on how to implement a sensor in Python.

class PyLidarStateEstimation

Bases: Sensor

Python equivalent to the C++ navground::sim::LidarStateEstimation class.

Registered properties:

• range (float)

• field_of_view (float)

• resolution (int)

• range (float)

State: navground.core.SensingState

__init__(resolution: int = 11, start_angle: float = -3.141592653589793, field_of_view: float = 6.283185307179586, range_: float = 1.0, name: str = '')

Constructs a new instance.

Parameters:

• resolution – The resolution

• start_angle – The start angle

• field_of_view – The field of view

• range – The range

get_description() → dict[str, BufferDescription]

Overridden: associates an buffer of shape resolution to key “range”.

Returns:

The buffer description.

update(agent: Agent, world: World, state: EnvironmentState) → None

Overridden: set state field “range” with range measurements.

Parameters:

• agent – The agent

• world – The world

• state – The state

property field_of_view: float

The field of view [rad].

property range: float

The range of view

property resolution: int

The number of range measurements per scan.

property start_angle: float

The lowest visible relative angle [rad].