Configuration

module:

navground.sim.ui

type Decorate = Callable[[navground.sim.Entity], dict[str, str]]

A function that returns a dictionary of SVG style attributes for an entity, like {"fill": "red"}.

type Rect = tuple[numpy.ndarray, numpy.ndarray] | numpy.ndarray

A rectangle defined by two points, at the bottom-left and top-right vertices.

class RenderConfig

Configuration shared by rendering functions, like navground.sim.ui.svg_for_world().

background_color: str = 'snow'

A valid SVG color for the background

background_extras: list[Callable[[World], str]]

Extra rendering added at the beginning of to the svg

bounds: Rect | None = None

The rectangular area to be displayed

decorate: Decorate | None = None

A function to decorate entities. Should return a dictionary of valid SVG style attributes, e.g., {"fill": "red"} for a given entity.

display_safety_margin: bool = False

Whether to display the agent safety margin

display_shape: bool = False

Whether to display the agent circular shape

extras: list[Callable[[World], str]]

Extra rendering added at the end of to the svg

grid: float = 0

The size of the square grid tile (set to zero or negative to skip drawing a grid)

grid_color: str = 'grey'

The color of the grid

grid_thickness: float = 0.01

The thickness of the grid

min_height: int = 100

The minimum height in pixels

precision: int = 2

The number of decimal digits for poses

relative_margin: float = 0.05

The relative margin

rotation: tuple[core.Vector2, float] | float | None = None

A planar rotation applied before drawing [rad]

width: int = 600

The width in pixels

ui.render_default_config = RenderConfig(precision=2, decorate=None, bounds=None, width=600, min_height=100, relative_margin=0.05, background_color='snow', display_shape=False, display_safety_margin=False, grid=0, grid_color='grey', grid_thickness=0.01, rotation=None, extras=[], background_extras=[])

svg_color(r: float, g: float, b: float) → str

Returns the SVG representation of an RGB color

Parameters:

• r – in [0, 1]

• g – in [0, 1]

• b – in [0, 1]

Returns:

The SVG representation of the color

Note

There are three ways to configure parameters for rendering functions:

1. provide an optional argument to the function;

2. set a world-specific option in navground.sim.World.render_kwargs;

3. change the default configuration navground.sim.ui.render_default_config.