sim.world_gen.hoop_course_node#

Attributes#

Pose

Classes#

`CourseStyle`	Abstract base class for all course styles.
`AscentCourse`	Abstract base class for all course styles.
`DescentCourse`	Abstract base class for all course styles.
`SlalomCourse`	Abstract base class for all course styles.
`StraightCourse`	Simple straight course with hoops in a straight line.
`BezierCourse`	Smooth cubic Bezier curve between UAV start and DLZ.
`HoopCourseConfig`	!!! abstract "Usage Documentation"
`HoopCourseNode`	World generation node for in_house competition.

Functions#

main([args])

Module Contents#

Pose#

class CourseStyle(dlz: Tuple[float, float, float], uav: Tuple[float, float, float], num_hoops: int, max_dist: int, height: int, rng: random.Random | None = None)#

Bases: abc.ABC

Abstract base class for all course styles.

dlz#

uav#

num_hoops#

height#

max_dist#

rng#

abstractmethod generate_course() → List[Pose]#: Generate a list of (x, y, z, roll, pitch, yaw) for hoop placement.

class AscentCourse(dlz: Tuple[float, float, float], uav: Tuple[float, float, float], num_hoops: int, max_dist: int, start_height: int, rng: random.Random | None = None)#

Bases: CourseStyle

Abstract base class for all course styles.

start_height#

generate_course() → List[Pose]#: Generate a list of (x, y, z, roll, pitch, yaw) for hoop placement.

class DescentCourse(dlz: Tuple[float, float, float], uav: Tuple[float, float, float], num_hoops: int, max_dist: int, start_height: int, rng: random.Random | None = None)#

Bases: CourseStyle

Abstract base class for all course styles.

start_height#

generate_course() → List[Pose]#: Generate a list of (x, y, z, roll, pitch, yaw) for hoop placement.

class SlalomCourse(dlz: Tuple[float, float, float], uav: Tuple[float, float, float], num_hoops: int, max_dist: int, width: int, height: int, rng: random.Random | None = None)#

Bases: CourseStyle

Abstract base class for all course styles.

width#

height#

generate_course() → List[Pose]#: Generate a list of (x, y, z, roll, pitch, yaw) for hoop placement.

class StraightCourse(dlz: Tuple[float, float, float], uav: Tuple[float, float, float], num_hoops: int, max_dist: int, height: float = 2.0, spacing: float = 2.0, rng: random.Random | None = None)#

Bases: CourseStyle

Simple straight course with hoops in a straight line. Perfect for testing basic navigation and scoring.

height = 2.0#

spacing = 2.0#

generate_course() → List[Pose]#

Generate a straight line of hoops.

Returns:: List of (x, y, z, roll, pitch, yaw) positions for each hoop

class BezierCourse(dlz: Tuple[float, float, float], uav: Tuple[float, float, float], num_hoops: int, max_dist: int, height: float = 2.0, lateral_offset: float = 4.0, rng: random.Random | None = None)#

Bases: CourseStyle

Smooth cubic Bezier curve between UAV start and DLZ. P0 = UAV, P3 = DLZ P1/P2 are along the line with lateral offsets to create an arc.

height = 2.0#

lateral_offset = 4.0#

generate_course() → List[Pose]#: Generate a list of (x, y, z, roll, pitch, yaw) for hoop placement.

class HoopCourseConfig(/, **data: Any)#

Bases: pydantic.BaseModel

!!! abstract “Usage Documentation”: [Models](../concepts/models.md)

A base class for creating Pydantic models.

__class_vars__#: The names of the class variables defined on the model.

__private_attributes__#: Metadata about the private attributes of the model.

__signature__#: The synthesized __init__ [Signature][inspect.Signature] of the model.

__pydantic_complete__#: Whether model building is completed, or if there are still undefined fields.

__pydantic_core_schema__#: The core schema of the model.

__pydantic_custom_init__#: Whether the model has a custom __init__ function.

__pydantic_decorators__#: Metadata containing the decorators defined on the model. This replaces Model.__validators__ and Model.__root_validators__ from Pydantic V1.

__pydantic_generic_metadata__#: A dictionary containing metadata about generic Pydantic models. The origin and args items map to the [__origin__][genericalias.__origin__] and [__args__][genericalias.__args__] attributes of [generic aliases][types-genericalias], and the parameter item maps to the __parameter__ attribute of generic classes.

__pydantic_parent_namespace__#: Parent namespace of the model, used for automatic rebuilding of models.

__pydantic_post_init__#: The name of the post-init method for the model, if defined.

__pydantic_root_model__#: Whether the model is a [RootModel][pydantic.root_model.RootModel].

__pydantic_serializer__#: The pydantic-core SchemaSerializer used to dump instances of the model.

__pydantic_validator__#: The pydantic-core SchemaValidator used to validate instances of the model.

__pydantic_fields__#: A dictionary of field names and their corresponding [FieldInfo][pydantic.fields.FieldInfo] objects.

__pydantic_computed_fields__#: A dictionary of computed field names and their corresponding [ComputedFieldInfo][pydantic.fields.ComputedFieldInfo] objects.

__pydantic_extra__#: A dictionary containing extra values, if [extra][pydantic.config.ConfigDict.extra] is set to ‘allow’.

__pydantic_fields_set__#: The names of fields explicitly set during instantiation.

__pydantic_private__#: Values of private attributes set on the model instance.

course: str#

dlz: Tuple[float, float, float]#

uav: Tuple[float, float, float]#

num_hoops: int#

max_dist: int#

height: int#

class HoopCourseNode#

Bases: sim.world_gen.world_node.WorldNode

World generation node for in_house competition. Generates a hoop course with various course styles (ascent, descent, slalom, etc.).

config#

course#

dlz#

uav#

num_hoops#

max_dist#

height#

hoops: List[sim.world_gen.entity.Entity] = []#

srv#

hoop_list_req(request, response)#

create_dlzs_from_hoops(hoops: List[sim.world_gen.entity.Entity]) → List[sim.world_gen.entity.Entity]#

generate_world() → bool#

Generate the world file with hoops and DLZs.

Implements the abstract method from WorldNode.

main(args=None)#