`shasta.map`#

Module Contents#

Classes#

Map

Attributes#

`directories`
`assets_root`

directories[source]#

assets_root[source]#

class Map[source]#

_affine_transformation_and_graph()[source]#: Performs initial conversion of the lat lon to cartesian

_setup_building_info()[source]#

setup(experiment_config)[source]#

Perform the initial experiment setup e.g., loading the map

Parameters:: experiment_config (yaml) – A yaml file providing the map configuration
Return type:: None
Raises:: FileNotFoundError – If the experiment config is none, raises a file not found error

get_affine_transformation_and_graph()[source]#

Get the transformation matrix and the node graph of the map

Returns:: The transformation matrix and the node graph
Return type:: array, node graph

get_node_graph()[source]#

Get the node graph of the world

Returns:: A node graph of the world map
Return type:: networkx graph

get_node_info(node_index)[source]#

Get the information about a node.

Parameters:: id (int) – Node ID
Returns:: A dictionary containing all the information about the node.
Return type:: dict

convert_to_lat_lon(point)[source]#

Convert a given point to lat lon co-ordinates

Parameters:: point (array) – A numpy array in pybullet cartesian co-ordinates
Returns:: lat_lon – The lat lon co-ordinates
Return type:: array

convert_to_cartesian(point)[source]#

Convert a lat lon co-ordinates to cartesian coordinates

Parameters:: point (array) – A numpy array in lat lon co-ordinates co-ordinates
Returns:: lat_lon – The cartesian coordinates
Return type:: array

get_building_info(building_index)[source]#

Get the information about a building such as perimeter, position, number of floors.

Parameters:: id (int) – Building ID
Returns:: A dictionary containing all the information about the building.
Return type:: dict

get_lat_lon_spawn_points(n_points=5)[source]#

Get the latitude and longitude spawn points

Parameters:: n_points (int, optional) – Number of points to random latitude and longitude points, by default 5
Returns:: An array of cartesian spawn points
Return type:: array

get_cartesian_node_position(node_index)[source]#

Get the cartesian co-ordinates given the node index

Parameters:: node_index (int) – The node index in the map
Returns:: The cartesian co-ordinates
Return type:: array

get_lat_lon_node_position(node_index)[source]#

Get the lat and lon given the node index

Parameters:: node_index (int) – The node index in the map
Returns:: The cartesian co-ordinates
Return type:: array

get_cartesian_spawn_points(n_points=5)[source]#

Get the cartesian spawn points

Parameters:: n_points (int, optional) – Number of points to random cartesian co-ordinates, by default 5
Returns:: An array of cartesian spawn points
Return type:: array

get_all_buildings()[source]#

Get all the buildings

Returns:: A dataframe with all the building information
Return type:: dataframe

get_transformation_matrix()[source]#

Get the transformation matrix to convert lat lon to cartesian

Returns:: The transformation matrix
Return type:: array

shasta.map#

Module Contents#

Classes#

Attributes#

`shasta.map`#