navground_core

This package contains the core implementation of the navigation playground.

Dependencies

• Eigen3 >= 3.3 for linear algebra

• yaml-cpp for reading and writing YAML snippets

• arparse for CLI

Libraries

navground_core

A C++ library with navigation algorithms, controllers, and kinematics, see the API reference.

To use the library in a C++ CMake project:

1. add the dependency in CMakeLists.txt

   find_package(navground_core REQUIRED)
   # if using ament
   # ament_target_dependencies((<MYTARGET> navground_core)
   # else
   target_link_libraries(<MYTARGET> PRIVATE navground_core::navground_core)
   

2. include the appropriate headers in your code

   #include "navground/core/behavior.h"
   

Executables

info

Lists registered components (behaviors, kinematics, and behavior modulations) implemented in C++.

usage: info [-h] [--no-plugins] [--build] [--properties] [--description] [--behaviors [BEHAVIORS]] [--kinematics [KINEMATICS]] [--modulations [MODULATIONS]]

Named Arguments

--no-plugins

Do not load plugins

--build

Include build infos

--properties

Include properties

--description

Include property descriptions

--behaviors

selects behaviors

--kinematics

selects kinematics

--modulations

selects modulations

Example

$ info --properties

Installed components
====================
Behaviors
---------
Dummy
    environment:  (str)
HL
    aperture: 3.14159 (float)
    barrier_angle: 1.5708 (float)
    epsilon: 0 (float)
    eta: 0.5 (float)
    resolution: 101 (int)
    tau: 0.125 (float)
HRVO
    max_neighbors: 1000 (int)
    uncertainty_offset: 0 (int)
Idle
    ignore_obstacles: false (bool)
Minimal
ORCA
...

echo

Load and then print a YAML representation of an object (behavior, kinematic, or behavior modulation).

usage: echo [-h] [--no-plugins] [--chdir] kind YAML

Positional Arguments

kind

The kind of object to load: behavior, modulation, kinematics

YAML

YAML string, or path to a YAML file, describing an experiment

Named Arguments

--no-plugins

Do not load plugins

--chdir

Whether to change working directory to the directory containing the file. Useful when the config contains relative paths.

Example

$ echo kinematics "{type: 2WDiff}"

type: 2WDiff
max_backward_speed: 0
max_forward_speed: .inf
wheel_axis: 1
max_speed: .inf
max_angular_speed: .inf

schema

Print JSON-Schema of YAML-convertible navground core classes.

usage: schema [-h] [--no-plugins] [--register] [--type TYPE] [{kinematics,core,behavior,behavior_modulation}]

Positional Arguments

kind

Possible choices: kinematics, core, behavior, behavior_modulation

The target type of the scheme

Named Arguments

--no-plugins

Do not load plugins

--register

Whether to generate the register schema instead of the base class schema

--type

If provided, generates the schema for the sub-class registered under this name

Example

$ schema core

$id: http://navground/core
$schema: https://json-schema.org/draft/2020-12/schema
$defs:
  vector2:
    type: array
    items:
      type: number
    minItems: 2
    maxItems: 2
    $id: http://navground/vector2
    $schema: https://json-schema.org/draft/2020-12/schema
  line_segment:
    type: array
    items:
      $ref: vector2
    minItems: 2
    maxItems: 2
    $id: http://navground/line_segment
    $schema: https://json-schema.org/draft/2020-12/schema
  disc:
...

plugins

Load and list plugins.

usage: plugins [-h] [--dependencies]

Named Arguments

--dependencies

Display dependencies of C++ plugins

Example

$ plugins

navground_examples
------------------
Behaviors: Idle [C++]