pNeuma_simulator.gang.navigation module
- pNeuma_simulator.gang.navigation.decay(speed: float, theta: float) → ndarray[source]
Calculate the choice set for a given speed and angle.
- Parameters:
speed (float) – The speed value.
theta (float) – The angle value.
- Returns:
An array of angles in radians.
- Return type:
alphas (ndarray)
- pNeuma_simulator.gang.navigation.navigate(ego: Particle, agents: list[Particle]) → tuple[source]
Anticipatory operational navigation
- Parameters:
ego (Particle) – ego vehicle to be updated
agents (list) – list of agents in the simulation
- Returns:
target direction in radians, corresponding distance to collision in meters and time to collision in seconds.
- Return type:
tuple