CircularRobot

src.python_motion_planning.common.env.robot.circular_robot.CircularRobot

Bases: BaseRobot

Base class for circular omnidirectional robots.

Parameters:

Name	Type	Description	Default
**args		see the parent class	()
radius	float	Radius of the robot	0.5
color	str	Visualization color	'C0'
alpha	float	Visualization alpha	1.0
fill	bool	Visualization fill	True
linewidth	float	Visualization linewidth	1.0
linestyle	str	Visualization linestyle	'-'
text	str	Visualization text (visualized in the center of the robot)	''
text_color	str	Visualization text color	'white'
fontsize	str	Visualization text fontsize	None
**kwargs		see the parent class	{}

Source code in src\python_motion_planning\common\env\robot\circular_robot.py

Python

class CircularRobot(BaseRobot):
    """
    Base class for circular omnidirectional robots.

    Args:
        **args: see the parent class
        radius: Radius of the robot
        color: Visualization color
        alpha: Visualization alpha
        fill: Visualization fill
        linewidth: Visualization linewidth
        linestyle: Visualization linestyle
        text: Visualization text (visualized in the center of the robot)
        text_color: Visualization text color
        fontsize: Visualization text fontsize
        **kwargs: see the parent class
    """
    def __init__(self, *args, radius: float = 0.5, color: str = "C0", alpha: float = 1.0, 
                 fill: bool = True, linewidth: float = 1.0, linestyle: str = "-",
                 text: str = "", text_color: str = 'white', fontsize: str = None,
                 **kwargs):
        super().__init__(*args, **kwargs)

        self.radius = float(radius)

        # visualization parameters
        self.color = color
        self.alpha = alpha
        self.fill = fill
        self.linewidth = linewidth
        self.linestyle = linestyle
        self.text = text
        self.text_color = text_color
        self.fontsize = fontsize