pNeuma_simulator.gang.navigation module

pNeuma_simulator.gang.navigation.decay(vel: float, theta: float) → ndarray

Calculate the decay angles for a given velocity and angle.

Parameters:

• vel (float) – The velocity value.

• theta (float) – The angle value.

Returns:

An array of decay angles.

Return type:

alphas (numpy.ndarray)

pNeuma_simulator.gang.navigation.egress(alphas, indices, counts, cond, rng) → float

Find interior egress point in the horizon.

Parameters:

• alphas (list) – angle choice set in radians.

• indices (list) – indices of non zero intervals.

• counts (list) – difference between consecutive indices.

• cond (list) – condition, boolean list.

Returns:

egreess point in radians

Return type:

float

pNeuma_simulator.gang.navigation.navigate(ego: Particle, agents: list[Particle], integer: int, d_max) → tuple

Anticipatory operational navigation

Parameters:

• ego (Particle) – ego vehicle to be updated

• agents (list) – list of agents in the simulation

• integer (int) – random seed

• d_max (float) – horizon distance.

Returns:

target and desired directions in radians, angle choice set in radians, corresponding distance to collision in meters and time to collision in seconds.

Return type:

tuple

pNeuma_simulator.gang.navigation.target(alphas, f_a, d_max, rng) → tuple

Find consecutive runs and length of runs with condition.

Parameters:

• alphas (list) – angle choice set in radians.

• f_a (list) – distance to collision values in meters.

• d_max (int) – distance to horizon in meters.

Returns:

target and desired directions in radians

Return type:

tuple