swarmsim.agent.StaticAgent

An Agent Class and Config for a non-moving agent.

class swarmsim.agent.StaticAgent.StaticAgentConfig(position: tuple[float, ...] | numpy.ndarray = (0, 0), angle: float | typing.Any = 0.0, name: str | typing.Any = None, controller: typing.Any | None = None, grounded: bool = False, collides: bool | int = True, sensors: list = <factory>, team: str | None = None, seed: int | None | str = 'unspecified', agent_radius: float = 0.0, body_color: tuple[int, int, int] = (255, 255, 255), body_filled: bool = False, points: list[tuple[float, float]] | numpy.ndarray | str = <factory>, anchor_point: None | tuple[float, float] | str = None, debug: bool = False)

Attributes:

anchor_point

controller

name

team

Methods

as_config_dict
as_dict
as_generator
asdict
attach_world_config
from_dict

agent_radius: float = 0.0

The radius of the agent.

Type:

float

anchor_point: None | tuple[float, float] | str = None

angle: float | Any = 0.0

as_config_dict()

as_dict()

as_generator()

asdict()

attach_world_config(world_config)

body_color: tuple[int, int, int] = (255, 255, 255)

The body color of the agent.

Type:

tuple[int, int, int]

body_filled: bool = False

Whether the body is filled.

Type:

bool

collides: bool | int = True

Whether the agent collides with other agents.

Type:

bool | int

controller: Any | None = None

debug: bool = False

Whether to draw the agent’s AABB in debug mode.

Type:

bool

classmethod from_dict(env)

grounded: bool = False

name: str | Any = None

points: list[tuple[float, float]] | ndarray | str

The points of the agent shape. If points is empty, the agent will be a circle.

Type:

list[tuple[float, float]] | np.ndarray | str

position: tuple[float, ...] | np.ndarray = (0, 0)

seed: int | None | str = 'unspecified'

sensors: list

team: str | None = None

class swarmsim.agent.StaticAgent.StaticAgent(config: StaticAgentConfig, world: RectangularWorld, name=None, initialize=True)

Attributes:

is_poly

poly_rotated

position

Alias for pos.

Methods

copy()	Create a copy of this agent.
from_config(config, world)	Returns a new agent instance from the given config and world.
getPosition()	Alias for pos.
getVelocity()	Alias for dpos.
get_aabb()	Get the agent's AABB.
get_sensors()	Alias for sensors.
make_aabb()	Return the Bounding Box of the agent
orientation_uvec([offset])	Returns the agent's 2D orientation matrix.
set_heading(new_heading)	Set the agent's heading (radians).
set_name(new_name)	Set the name of the agent.
set_pos_vec(vec)	Set the x, y, and angle of the agent.
setup_controller_from_config()	Creates and adds the AgentConfig.controller to the agent.
setup_sensors_from_config()	Creates and adds sensors from the AgentConfig.sensors to the agent.

attach_agent_to_sensors
build_collider
debug_draw
draw
draw_direction
getFrontalPoint
get_heading
get_name
get_simple_poly_radius
get_x_pos
get_y_pos
on_key_press
rotmat2d
rotmat2dT
rotmat3d
set_seed
set_x_pos
set_y_pos
step

DEBUG = False

aabb

The agent’s cached AABB.

Type:

AABB

angle

Agent’s heading in radians. 0 is facing frame right.

attach_agent_to_sensors()

build_collider()

collides

If True, the agent should be solid.

collision_flag

Colliders should set to True if a collision was detected.

config

Agent config.

controller

The Controller for this agent.

copy()

Create a copy of this agent.

Returns:

The new agent has the same type as the class/instance it was called from.

Return type:

Agent

Almost all attributes are deep-copied from this agent. However, some attributes do not get recursively deep-copied, such as the world attribute.

The Agent._always_shallow_copy attribute is a list of agent attribute names which determines which attributes do not get deep-copied. By default, this is ['world'].

On the new agent, Attributes of this agent not in this list will be a deep-copy of those in the original agent.

Attributes of this agent in this list will share the same reference as the original agent.

Examples

>>> agent = Agent(config, world)
>>> agent.copy().world is agent.world
True
>>> copy.deepcopy(agent).world is agent.world
False

debug_draw(screen, offset)

dpos: ndarray

Change in position since last step

draw(screen, offset=((0, 0), 1.0)) → None

draw_direction(screen, offset=((0, 0), 1.0))

dt

Copy the world’s dt at agent creation.

Type:

float

dtheta

Change in heading since last step.

classmethod from_config(config, world)

Returns a new agent instance from the given config and world.

Parameters:

• config (AgentConfig) – The config to create the agent from.

• world (World) – This provides a back-reference to the world instance for the new agent.

Returns:

The new agent has the same type as the class/instance it was called from.

Return type:

Agent

getFrontalPoint(offset=0) → tuple

getPosition()

Alias for pos.

getVelocity()

Alias for dpos.

get_aabb() → AABB

Get the agent’s AABB.

get_heading() → float

get_name()

get_sensors()

Alias for sensors.

get_simple_poly_radius()

get_x_pos() → float

get_y_pos() → float

grounded

If True, the agent should never change position or be pushed during collision resolution.

property is_poly

make_aabb() → AABB

Return the Bounding Box of the agent

name: str | None

Agent’s name.

on_key_press(event)

orientation_uvec(offset=0.0)

Returns the agent’s 2D orientation matrix.

This is a unit vector pointing in the direction of the agent’s heading plus an offset.

Equivalent to

np.array([
    math.cos(self.angle + offset),
    math.sin(self.angle + offset)
], dtype=np.float64)

Parameters:

offset (float, default=0) – The offset to add to the agent’s heading (radians).

Returns:

The 2D orientation matrix.

Return type:

numpy.ndarray (2,)

property poly_rotated

pos: ndarray

Agent’s position in the world.

property position

Alias for pos.

radius

The radius of the agent.

Type:

float

rotmat2d(offset=0)

rotmat2dT(offset=0)

rotmat3d(offset=None)

sensors: list

List of this agent’s sensors.

set_heading(new_heading: float)

Set the agent’s heading (radians).

set_name(new_name: str | None | Any)

Set the name of the agent.

Parameters:

new_name (str | None | Any) – The new name of the agent. Strongly recommended to use str.

set_pos_vec(vec)

Set the x, y, and angle of the agent.

Parameters:

vec (tuple[float, float, float] | numpy.ndarray) – A vector with len() of 3 containing the x, y, angle

set_seed(seed)

set_x_pos(new_x: float)

set_y_pos(new_y: float)

setup_controller_from_config()

Creates and adds the AgentConfig.controller to the agent.

If config.controller is a dict with a type key, then it is created through the Configuration System and set as the agent’s controller. AbstractController instances copied and added to the list.

The controller is also given a back-reference to this agent via its set_agent().

Raises:

TypeError – if the element is not a dict or AbstractSensor instance.

setup_sensors_from_config()

Creates and adds sensors from the AgentConfig.sensors to the agent.

For each element of config.sensors, if the element is a dict with a type key, then it is created through the Configuration System and then added to the agent’s sensors list. AbstractSensor instances copied and added to the list.

The new sensor instances are also given a back-reference to this agent via their set_agent().

Raises:

TypeError – if the element is not a dict or AbstractSensor instance.

step(world=None, check_for_world_boundaries=None, check_for_agent_collisions=None) → None

team

The agent’s team.

world

Back-reference to the world instance.

Classes

StaticAgent(config, world[, name, initialize])
StaticAgentConfig(position, ...)