Social margin

class SocialMarginModulation

Abstract modulation: maps a pair (margin, distance) to a margin.

__init__(*args, **kwargs)

class SocialMarginZeroModulation

A modulation that always return 0.

__init__() → None

class SocialMarginConstantModulation

A modulation that leaves the margin unchanged

__init__() → None

class SocialMarginLinearModulation

A modulation that linearly interpolate between 0 and the input margin, returning the input margin above upper_distance

__init__(upper_distance: float) → None

Constructs a new instance.

Parameters:

upper_distance – The upper distance

class SocialMarginQuadraticModulation

A modulation that quadratically interpolates between 0 and the input margin, returning the input margin above upper_distance. The slope is 0 at distance 0.

__init__(upper_distance: float) → None

class SocialMarginLogisticModulation

A logistic modulation.

__init__() → None

class SocialMargin

This class defines a modulated social margin that may be added to the safety margin around Neighbor for behaviors that uses the GeometricState. The social margin is assigned to the neighbor’s Neighbor.id and it is modulated by the neighbor current distance.

__init__(value: float = 0) → None

Constructs a new instance.

Parameters:

value – The default value of social margins

get(type: int | None = None, distance: float | None = None) → float

Get the value, ignoring type and distance

Returns:

The social margin

static schema() → object

Returns the json-schema

Returns:

json-schema

Return type:

dict[str, typing.Any]

set(value: float, type: int | None = None) → None

Set the default value, ignoring type.

Parameters:

value – The desired social margin

property max_value

Type:

float

The maximal possible value across all types

property modulation

Type:

navground.core.SocialMarginModulation

The modulation.