Lua API

Lua API#

simNavground.make_controller(int handle, string behavior, map kinematics, float radius) → int handle#

Instantiate a navigation controller

Parameters:

  • handle – A unique handle to associate to the controller

  • behavior – The obstacle avoidance behavior

  • kinematics – The kinematics

  • radius – The radius

Returns:

  • handle – The handle or -1 in case of failure

simNavground.get_behavior_property(int handle, string name) → map value#

Get the value of one of the navigation behavior properties

Parameters:

  • handle – The controller handle

  • name – The property name

Returns:

  • value – The property value

simNavground.set_behavior_property(int handle, string name, map value)#

Set the value of one of the navigation behavior properties

Parameters:

  • handle – The controller handle

  • name – The property name

  • value – The property value

simNavground.get_agents() → int[] handles#

Get the handles of all the agents

Returns:

  • handles – The handles

simNavground.properties(int handle, int owner=-1) → map[] properties#

Get all the agent properties

Parameters:

  • handle – The agent handle

  • owner – See PropertyOwner. Set to negative to get all properties

Returns:

  • properties – The properties

simNavground._get_property(int handle, int owner, string name) → map value#

Get the value of an agent’s property

Parameters:

  • handle – The agent handle

  • owner – See PropertyOwner

  • name – The property name

Returns:

  • value – The property value

simNavground._set_property(int handle, int owner, string name, map value)#

Set the value of an agent’s property

Parameters:

  • handle – The agent handle

  • owner – See PropertyOwner

  • name – The property name

  • value – The property value

simNavground.set_lattice(int coordinate_index, float from, float to)#

TODO

Parameters:

  • coordinate_index – TODO

  • from – TODO

  • to – TODO

simNavground.get_lattice(int coordinate_index) → bool enabled,float from,float to#

TODO

Parameters:

coordinate_index – TODO

Returns:

  • enabled – TODO

  • from – TODO

  • to – TODO

simNavground.go_to_position(int handle, float[] position, float tolerance)#

TODO

Parameters:

  • handle – The controller handle

  • position – The target position

  • tolerance – The target tolerance

simNavground.go_to_pose(int handle, float[] position, float orientation, float position_tolerance, float orientation_tolerance)#

TODO

Parameters:

  • handle – The controller handle

  • position – The target position

  • orientation – The target orientation

  • position_tolerance – The target tolerance

  • orientation_tolerance – The target tolerance

simNavground.follow_point(int handle, float[] point)#

TODO

Parameters:

  • handle – The controller handle

  • point – The target position

simNavground.follow_pose(int handle, float[] position, float orientation)#

TODO

Parameters:

  • handle – The controller handle

  • position – The target position

  • orientation – The target orientation

simNavground.get_target(int handle) → map point#

TODO

Parameters:

handle – The agent handle

Returns:

  • point – The 2d target

simNavground.get_pose(int handle) → float[] position,float orientation#

TODO

Parameters:

handle – The controller handle

Returns:

  • position – The 3d position

  • orientation – The orientation in radians

simNavground.set_pose(int handle, float[] position, float orientation)#

TODO

Parameters:

  • handle – The controller handle

  • position – The 3d position

  • orientation – The orientation in radians

simNavground.get_twist(int handle) → float[] velocity,float angular_speed#

TODO

Parameters:

handle – The controller handle

Returns:

  • velocity – The 2d velocity

  • angular_speed – The angular speed in radians/s

simNavground.set_twist(int handle, float[] velocity, float angular_speed)#

TODO

Parameters:

  • handle – The controller handle

  • velocity – The 3d velocity

  • angular_speed – The angular speed in radians/s

simNavground.set_rotation_tau(int handle, float value)#

TODO

Parameters:

  • handle – The controller handle

  • value – The value

simNavground.set_horizon(int handle, float value)#

TODO

Parameters:

  • handle – The controller handle

  • value – The value

simNavground.get_horizon(int handle) → float value#

TODO

Parameters:

handle – The controller handle

Returns:

  • value – The value

simNavground.set_safety_margin(int handle, float value)#

TODO

Parameters:

  • handle – The controller handle

  • value – The value

simNavground.get_safety_margin(int handle) → float value#

TODO

Parameters:

handle – The controller handle

Returns:

  • value – The value

simNavground.set_optimal_speed(int handle, float value)#

TODO

Parameters:

  • handle – The controller handle

  • value – The value

simNavground.get_optimal_speed(int handle) → float value#

TODO

Parameters:

handle – The controller handle

Returns:

  • value – The value

simNavground.set_heading_behavior(int handle, int value)#

TODO

Parameters:

  • handle – The controller handle

  • value – The value

simNavground.set_speed_tolerance(int handle, float value)#

TODO

Parameters:

  • handle – The controller handle

  • value – The value

simNavground.should_be_limited_to_2d(int handle, bool value)#

TODO

Parameters:

  • handle – The controller handle

  • value – The value

simNavground.set_cmd_frame(int handle, int value)#

TODO

Parameters:

  • handle – The controller handle

  • value – The value (0 for relative, 1 for absolute)

simNavground.follow_velocity(int handle, float[] velocity)#

TODO

Parameters:

  • handle – The controller handle

  • velocity – The target 3d velocity

simNavground.update(int handle, float time_step) → float[] velocity,float angular_speed,float state#

TODO

Parameters:

  • handle – The controller handle

  • time_step – The time step

Returns:

  • velocity – The 3d velocity

  • angular_speed – The angular speed in radians/s

  • state – The angular speed in radians/s

simNavground.set_static_obstacles(int handle, map[] obstacles)#

TODO

Parameters:

  • handle – The controller handle

  • obstacles – The controller handle

simNavground.set_neighbors(int handle, map[] neighbors)#

TODO

Parameters:

  • handle – The controller handle

  • neighbors – The obstacles

simNavground.set_line_obstacles(int handle, map[] obstacles)#

TODO

Parameters:

  • handle – The controller handle

  • obstacles – The lines

simNavground.get_state(int handle) → int state#

TODO

Parameters:

handle – The controller handle

Returns:

  • state – TODO

simNavground.get_actuated_wheel_speeds(int handle) → float[] speeds#

TODO

Parameters:

handle – The controller handle

Returns:

  • speeds – TODO

simNavground.add_obstacle(int handle, float radius)#

TODO

Parameters:

  • handle – The object handle

  • radius – The object radius

simNavground.add_wall(float[] p1, float[] p2)#

TODO

Parameters:

  • p1 – The first vertex

  • p2 – The second vertex

simNavground.add_agent_from_yaml(int handle, string yaml) → int handle#

TODO

Parameters:

  • handle – The object handle

  • yaml – The yaml text

Returns:

  • handle – The handle or -1 in case of failure

simNavground.remove_agent(int handle)#

TODO

Parameters:

handle – The agent handle

simNavground.get_last_cmd(int handle, int frame) → float[] velocity,float angular_speed#

TODO

Parameters:

  • handle – The agent handle

  • frame – The value (0 for relative, 1 for absolute)

Returns:

  • velocity – The horizontal velocity

  • angular_speed – The angular speed in radians/s

simNavground.get_last_wheel_cmd(int handle) → float[] speeds#

TODO

Parameters:

handle – The agent handle

Returns:

  • speeds – TODO

simNavground.enable_recording(map config)#

TODO

Parameters:

config – The recording configuration

simNavground.set_frame(int handle)#

Set the simulation reference frame.

Parameters:

handle – The handle of the frame (-1 for use internal frame)