shasta.map
#
Module Contents#
Classes#
Attributes#
- class Map[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