PyLidar

An alternative implementation to navground.sim.state_estimations.LidarStateEstimation to provide an example on how to implement a sensor in Python.

class PyLidarStateEstimation

Bases: Sensor

Python equivalent to the C++ navground::sim::LidarStateEstimation class.

Registered properties:

• range (float)

• field_of_view (float)

• resolution (int)

• range (float)

State: navground.core.SensingState

__init__(resolution: int = 11, start_angle: float = -3.141592653589793, field_of_view: float = 6.283185307179586, range_: float = 1.0)

Constructs a new instance.

Parameters:

• resolution – The resolution

• start_angle – The start angle

• field_of_view – The field of view

• range – The range

get_description() → dict[str, navground.core.BufferDescription]

Gets the description of the buffers set by the sensors.

Returns:

The description.

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 field_of_view: float

property range: float

property resolution: int

property start_angle: float