Base class

class StateEstimation

This class describe a generic state estimation that should update the environment state used by the agent Behavior.

As the environment state is specialized by sub-classes of Behavior like GeometricState, concrete sub-classes have to target one or more of them.

In particular, the agent should use a state estimation compatible with its state representation.

Sub-classes are expected to override methods

• prepare(), which is called at the begin of the simulation to set it up. - update(), which is called at every simulation step. - close, which is called at the end of the simulation.

close() → None

Clean-up the state estimation.

Called after finishing a simulation.

dump() → str

Dumps the object to a YAML-string.

Returns:

The YAML representation

Return type:

str

get(name: str) → bool | int | float | str | Vector2 | list[bool] | list[int] | list[float] | list[str] | list[Vector2]

Gets the value of the specified property.

Parameters:

name – The name of the property

Raise:

std::runtime_error A runtime error if no property is found.

Returns:

The value of the property

get_property_type_name(name: str) → str

Gets the type of a property.

Parameters:

name – The name of the property

Returns:

The property type name or an empty string if the property is not defined.

has(name: str) → bool

Checks whether a property exists.

Parameters:

name – The name of the property

Returns:

True if the property exists

static has_type(name: str) → bool

Check whether a type name has been registered.

Parameters:

type – The associated type name.

Returns:

True if the type name has been registered.

static load(value: str) → object

Load a state estimation from a YAML string.

Parameters:

value – the YAML string.

Returns:

The loaded state estimation or None if loading fails.

Return type:

StateEstimation| None

static make_type(name: str) → object

Create an object of a sub-class selected by name.

Parameters:

type – The associated type name.

Returns:

An object of a registered sub-class or None in case the desired name is not found.

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

Setup the state estimation.

Called before starting a simulation.

Parameters:

• agent – The agent owning the state estimation

• world – The world the agent is part of

static register_schema() → object

Returns the json-schema that includes registered components.

Returns:

“anyOf” json-schema of all registered components.

Return type:

dict[str, typing.Any]

static schema(reference_register_schema: bool = True, type: str | None = None) → object

Returns the json-schema of a component

Returns an empty dictionary if a not registered type is requested.

Parameters:

• reference_register_schema – Whether to reference registered components schema in the base class schema.

• type (str) – An optional registered type. If not specified, it returns the schema of the base class.

Returns:

A json-schema of the registered class

Return type:

dict[str, typing.Any]

set(name: str, value: bool | int | float | str | Vector2 | list[bool] | list[int] | list[float] | list[str] | list[Vector2]) → None

Set the value of a named property. Fails silently if no property can be found or if the value has a non-compatible type.

Parameters:

• name – The name of the property

• value – The desired value for the property

update(agent: navground.sim.NativeAgent, world: navground.sim.NativeWorld, state: navground.core.EnvironmentState) → None

Updates an environment state with respect to a given agent.

Parameters:

• agent – The agent owning the state estimation

• world – The world that the agent is part of

• state – The environment state to be updated

property properties

Type:

dict[str, navground.core.Property]

The registered properties

property type

Type:

str

The name associated to the type of an object