`tactics2d.sensor`

`RenderManager`

This class manages the rendering of the scenario.

By RenderManager, the sensors are registered and can be bound to the participants. The rendering is conducted by the pygame library.

Attributes:

Name	Type	Description
`fps`	`int`	The frame rate of the rendering. Defaults to 60.
`windows_size`	`Tuple[int, int]`	The size of the rendering window. Defaults to (800, 800).
`layout_style`	`str`	The style of the layout of the rendering window. The available choices are ["hierarchy", "block"]. Defaults to "hierarchy".
`off_screen`	`bool`	Whether to render the scenario off screen. Defaults to False.
`graphic_driver`	`str`	The graphic driver used by the pygame library. This attribute is read-only.

`init(fps=60, windows_size=(800, 800), layout_style='hierarchy', off_screen=False)`

Initialize the render manager.

Parameters:

Name	Type	Description	Default
`fps`	`int`	The frame rate of the rendering.	`60`
`windows_size`	`Tuple[int, int]`	The size of the rendering window.	`(800, 800)`
`layout_style`	`str`	The style of the layout of the rendering window. The available choices are ["hierarchy", "block"].	`'hierarchy'`
`off_screen`	`bool`	Whether to render the scenario off screen.	`False`

`add_sensor(sensor, main_sensor=False)`

This function adds a sensor to the render manager.

Parameters:

Name	Type	Description	Default
`sensor`	`SensorBase`	The sensor instance to be added.	required
`main_sensor`	`bool`	Whether the sensor is the main sensor for display. This argument only take effect when the the layout style is hierarchical.	`False`

Raises:

Type	Description
`KeyError`	If the sensor has conflicted id with registered sensors.

`bind(id_, participant_id)`

This function binds a registered sensor with a participant.

Parameters:

Name	Type	Description	Default
`id_`	`int`	The id of the sensor.	required
`participant_id`	`int`	The id of the participant.	required

Raises:

Type	Description
`KeyError`	If the sensor is not registered in the manager.

`close()`

Close the render manager.

`get_bind_id(id_)`

This function gets the id of the participant that the sensor is bound to.

Parameters:

Name	Type	Description	Default
`id_`	`int`	The id of the sensor.	required

Returns:

Type	Description
`int`	The id of the participant that the sensor is bound to. If the sensor is not bound to any participant, return None.

`get_observation()`

Get the observation of all the sensors.

Returns:

Name	Type	Description
`list`	`list`	A list of 3d arrays.

`is_bound(id_)`

This function checks whether the sensor is bound to a participant.

Parameters:

Name	Type	Description	Default
`id_`	`int`	The id of the sensor.	required

Returns:

Type	Description
`bool`	If the sensor is bound to a participant, return True. Otherwise, return False.

`remove_sensor(id_)`

This function removes a sensor from the manager.

Parameters:

Name	Type	Description	Default
`id_`	`int`	The id of the sensor.	required

`render()`

Render the observation of all the sensors.

`reset()`

Reset the render manager.

`unbind(id_)`

This function unbinds a registered sensor from its bound participant.

Parameters:

Name	Type	Description	Default
`id_`	`int`	The id of the sensor.	required

`update(participants, participant_ids, frame=None)`

Sync the viewpoint of the sensors with their bound participants. Update the observation of all the sensors.

Parameters:

Name	Type	Description	Default
`participants`	`dict`	The dictionary of all participants. The render manager will detect which of them is alive.	required
`frame`	`int`	Update the sensors to the given frame. If None, the sensors will update to the current frame. The default unit is millisecond.	`None`

`SensorBase`

Bases: ABC

This class define an interface for all the pseudo sensors provided in tactics2d.

Attributes:

Name	Type	Description
`id_`	`int`	The unique identifier of the sensor.
`map_`	`Map`	The map that the sensor is attached to.
`perception_range`	`Union[float, Tuple[float]]`	The distance from the sensor to its maximum detection range in (left, right, front, back). When this value is undefined, the sensor is assumed to detect the whole map. Defaults to None.
`window_size`	`Tuple[int, int]`	The size of the rendering window. Defaults to (200, 200).
`off_screen`	`bool`	Whether to render the sensor off screen. Defaults to True.
`scale`	`float`	The scale of the rendering window.
`bind_id`	`int`	The unique identifier of the participant that the sensor is bound to.
`surface`	`Surface`	The rendering surface of the sensor. This attribute is read-only.
`heading`	`float`	The heading of the sensor. This attribute is read-only.
`position`	`Point`	The position of the sensor. This attribute is read-only.
`max_perception_distance`	`float`	The maximum detection range of the sensor. This attribute is read-only.

`init(id_, map_, perception_range=None, window_size=(200, 200), off_screen=True)`

Initialize the sensor.

Parameters:

Name	Type	Description	Default
`id_`	`int`	The unique identifier of the sensor.	required
`map_`	`Map`	The map that the sensor is attached to.	required
`perception_range`	`Union[float, Tuple[float]]`	The distance from the sensor to its maximum detection range in (left, right, front, back). When this value is undefined, the sensor is assumed to detect the whole map.	`None`
`window_size`	`Tuple[int, int]`	The size of the rendering window.	`(200, 200)`
`off_screen`	`bool`	Whether to render the sensor off screen.	`True`

`get_observation()` `abstractmethod`

This function is used to get the observation of the sensor from the viewpoint.

`set_bind_id(bind_id)`

This function is used to set the bind id of the sensor.

Parameters:

Name	Type	Description	Default
`bind_id`	`int`	The unique identifier of the participant that the sensor is bound to.	required

`update(participants, position=None, heading=None)` `abstractmethod`

This function is used to update the sensor's location and observation.

Parameters:

Name	Type	Description	Default
`participants`	`Dict[int, Participant]`	The participants in the scenario.	required
`position`	`Point`	The position of the sensor. Defaults to None.	`None`
`heading`	`float`	The heading of the sensor. Defaults to None.	`None`

`SingleLineLidar`

Bases: SensorBase

This class implements a pseudo single line LiDAR.

The default parameters refer to LiDAR STL-06P. This LiDAR sensor has only one scan line. Its documentation is here.

Attributes:

Name	Type	Description
`id_`	`int`	The unique identifier of the LiDAR.
`map_`	`Map`	The map that the LiDAR is attached to.
`perception_range`	`Union[float, Tuple[float]]`	The distance from the LiDAR to its maximum detection range in (left, right, front, back). When this value is undefined, the LiDAR is assumed to detect the whole map. Defaults to 12.0.
`window_size`	`Tuple[int, int]`	The size of the rendering window. Defaults to (200, 200).
`off_screen`	`bool`	Whether to render the LiDAR off screen. Defaults to True.
`scale`	`float`	The scale of the rendering window.
`freq_scan`	`float`	The frequency of the LiDAR scanning a full round. Defaults to 10.0. This attribute is read-only should only be set in the initialization.
`freq_detect`	`float`	The frequency of the LiDAR sending and receiving the signal. Defaults to 5000.0. This attribute is read-only should only be set in the initialization.
`bind_id`	`int`	The unique identifier of the participant that the sensor is bound to.
`surface`	`Surface`	The rendering surface of the sensor. This attribute is read-only.
`heading`	`float`	The heading of the LiDAR. This attribute is read-only.
`position`	`Point`	The position of the LiDAR. This attribute is read-only.
`max_perception_distance`	`float`	The maximum detection range of the LiDAR. This attribute is read-only.

`init(id_, map_, perception_range=12.0, freq_scan=10.0, freq_detect=5000.0, window_size=(200, 200), off_screen=True)`

Initialize the single line lidar.

Parameters:

Name	Type	Description	Default
`id_`	`int`	The unique identifier of the LiDAR.	required
`map_`	`Map`	The map that the LiDAR is attached to.	required
`perception_range`	`float`	The distance from the LiDAR to its maximum detection range.	`12.0`
`freq_scan`	`float`	The frequency of the LiDAR scanning a full round.	`10.0`
`freq_detect`	`float`	The frequency of the LiDAR sending and receiving the signal.	`5000.0`
`window_size`	`Tuple[int, int]`	The size of the rendering window.	`(200, 200)`
`off_screen`	`bool`	Whether to render the LiDAR off screen.	`True`

`get_observation()`

Get the lidar points at current frame. The points are sorted counter clockwise. The points are given in the global coordinate system.

Returns:

Type	Description
`ndarray`	The lidar points at current frame.

`TopDownCamera`

Bases: SensorBase

This class implements a pseudo camera with top-down view RGB semantic segmentation image.

Attributes:

Name	Type	Description
`id_`	`int`	The unique identifier of the camera.
`map_`	`Map`	The map that the camera is attached to.
`perception_range`	`Union[float, Tuple[float]]`	The distance from the camera to its maximum detection range in (left, right, front, back). When this value is undefined, the camera is assumed to detect the whole map. Defaults to None.
`window_size`	`Tuple[int, int]`	The size of the rendering window. Defaults to (200, 200).
`off_screen`	`bool`	Whether to render the camera off screen. Defaults to True.
`scale`	`float`	The scale of the rendering window.
`bind_id`	`int`	The unique identifier of the participant that the sensor is bound to.
`surface`	`Surface`	The rendering surface of the sensor. This attribute is read-only.
`heading`	`float`	The heading of the camera. This attribute is read-only.
`position`	`Point`	The position of the camera. This attribute is read-only.
`max_perception_distance`	`float`	The maximum detection range of the camera. This attribute is read-only.

`init(id_, map_, perception_range=None, window_size=(200, 200), off_screen=True)`

Initialize the top-down camera.

Parameters:

Name	Type	Description	Default
`id_`	`int`	The unique identifier of the camera.	required
`map_`	`Map`	The map that the camera is attached to.	required
`perception_range`	`Union[float, tuple]`	The distance from the camera to its maximum detection range in (left, right, front, back). When this value is undefined, the camera is assumed to detect the whole map.	`None`
`window_size`	`Tuple[int, int]`	The size of the rendering window.	`(200, 200)`
`off_screen`	`bool`	Whether to render the camera off screen.	`True`

`get_observation()`

This function is used to get the observation of the camera from the viewpoint.

Returns:

Type	Description
`ndarray`	The observation of the camera.

`update(participants, participant_ids, frame=None, position=None, heading=None)`

This function is used to update the camera's location and observation.

Parameters:

Name	Type	Description	Default
`participants`	`_type_`	The participants in the scenario.	required
`participant_ids`	`list`	The ids of the participants in the scenario.	required
`frame`	`int`	The frame of the scenario. If None, the camera will update to the current frame.	`None`
`position`	`Point`	The position of the camera.	`None`
`heading`	`float`	The heading of the camera.	`None`

tactics2d.sensor

RenderManager

__init__(fps=60, windows_size=(800, 800), layout_style='hierarchy', off_screen=False)

add_sensor(sensor, main_sensor=False)

bind(id_, participant_id)

close()

get_bind_id(id_)

get_observation()

is_bound(id_)

remove_sensor(id_)

render()

reset()

unbind(id_)

update(participants, participant_ids, frame=None)

SensorBase

__init__(id_, map_, perception_range=None, window_size=(200, 200), off_screen=True)

get_observation() abstractmethod

set_bind_id(bind_id)

update(participants, position=None, heading=None) abstractmethod

SingleLineLidar

__init__(id_, map_, perception_range=12.0, freq_scan=10.0, freq_detect=5000.0, window_size=(200, 200), off_screen=True)

get_observation()

TopDownCamera

__init__(id_, map_, perception_range=None, window_size=(200, 200), off_screen=True)

get_observation()

update(participants, participant_ids, frame=None, position=None, heading=None)

`tactics2d.sensor`

`RenderManager`

`init(fps=60, windows_size=(800, 800), layout_style='hierarchy', off_screen=False)`

`add_sensor(sensor, main_sensor=False)`

`bind(id_, participant_id)`

`close()`

`get_bind_id(id_)`

`get_observation()`

`is_bound(id_)`

`remove_sensor(id_)`

`render()`

`reset()`

`unbind(id_)`

`update(participants, participant_ids, frame=None)`

`SensorBase`

`init(id_, map_, perception_range=None, window_size=(200, 200), off_screen=True)`

`get_observation()` `abstractmethod`

`set_bind_id(bind_id)`

`update(participants, position=None, heading=None)` `abstractmethod`

`SingleLineLidar`

`init(id_, map_, perception_range=12.0, freq_scan=10.0, freq_detect=5000.0, window_size=(200, 200), off_screen=True)`

`get_observation()`

`TopDownCamera`

`init(id_, map_, perception_range=None, window_size=(200, 200), off_screen=True)`

`get_observation()`

`update(participants, participant_ids, frame=None, position=None, heading=None)`