Registered components

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Registered components#

The YAML representation of components with a register, i.e., Behavior, Behavior Modulation, and Kinematics, are objects with a field type that corresponds to the name associated to the registered property:

$id: http://navground/<component>
$schema: https://json-schema.org/draft/2020-12/schema
type: object
# properties of the base class
properties:
   type: string
   ...
# specific registered sub-classes
$ref: /schemas/<component>_register
unevaluatedProperties: false

Warning

Loading will fail if no registered sub-class matches the specified type.

Moreover, registered sub-classes included with $ref: <componet>_register contain all their (navground) properties.

$id: http://navground/<component>_register
$schema: https://json-schema.org/draft/2020-12/schema
# list of registered sub-classes
anyOf:
   - properties:
       type:
         const: <type>
       <property>:
         type: ...
         default: ...
       ...
   - ...

When loading an object from YAML, specifying its properties is optional: when non provided, they are set to default. When loading properties from YAML, their types should be compatible. For instance, loading a list of floats from a YAML bool will fails.

Note

This applies as well to user defined sub-classes: any property the expose it automatically available to YAML too and be included in the schema.

Example#

The navground::core::HLBehavior has properties — tau (float), eta (float), aperture (float), resolution (int) — that can be read from the YAML. Loading the following YAML

type: HL
tau: 0.25
aperture: 1.0
# this would fail, as types float for the property and
# sequence of numbers for YAML are not compatible
# eta: [1.0]

sets tau=0.25 and aperture=1.0.

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