SVG and HTML rendering

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.

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

svg_for_world(world: World | None = None, precision: int = 3, decorate: Callable[[Entity], MutableMapping[str, str]] | None = None, bounds: tuple[Vector2, Vector2] | ndarray[Any, dtype[floating[Any]]] | None = None, width: int = 600, min_height: int = 100, relative_margin: float = 0.05, background_color: str = 'snow', display_shape: bool = False, grid: float = 0, grid_color: str = 'grey', grid_thickness: float = 0.01, rotation: tuple[Vector2, float] | float | None = None, extras: Collection[Callable[[World], str]] = []) → str

Draw the world as a SVG.

Parameters:

• world – The world to display

• precision – The number of decimal digits for poses

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

• bounds – The rectangular area to be displayed

• width – The width in pixels

• min_height – The minimum height in pixels

• relative_margin – The relative margin

• background_color – A valid SVG color for the background

• display_shape – Whether to display the agent circular shape

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

• grid_color – The color of the grid

• grid_thickness – The thickness of the grid

• rotation – A planar rotation applied before drawing [rad]

• extras – Provides extras rendering added at the end of to the svg

Returns:

An SVG string

html_for_world(world: World | None = None, world_name: str = '', with_websocket: bool = False, notebook: bool = False, port: int = 8000, display_shape: bool = False, external_style_path: str = '', style: str = '', include_script_path: str | None = None, **kwargs: Any) → str

Draw the world as a SVG embedded in HTML, optionally with a javascript script to keep the view in sync with navground.sim.ui.WebUI

Parameters:

• world – The world to display

• world_name – The world name used as title

• with_websocket – Whether to add a websocket client to keep the view in sync

• notebook – Whether the HTML will be embedded in a notebook

• port – The websocket port

• display_shape – Whether to display the agent circular shape

• external_style_path – The external style path

• style – An inline CSS style to include

• include_script_path – An alternative script path to be included

• kwargs – Arguments forwarded to navground.sim.ui.svg_for_world()

Returns:

An HTML string