rotor_py_control/rotorpy/worlds

World Module

Worlds are used to represent obstacles in the map. Maps are implemented as .json files using the following structure:

The world bounds are defined by the "bounds" key:

{
    "bounds": {"extents": [xmin, xmax, ymin, ymax, zmin, zmax]},

Obstacles are defined using cuboids. The cuboids are defined as follows:

    "blocks": [
        {"extents": [xmin, xmax, ymin, ymax, zmin, zmax], "color": [R, G, B]},
        ...
    ]
}

where the "color" value is a specified by RGB values between 0 and 1. As an example:

{"extents": [0, 1, -3, 2, 0, 10], "color": [0, 1, 0]}

will create a box with corners (0,-3,0), (0, 2,0), (0,-3,10), (0,2,10), (1,-3,0), (1,2,0), (1,-3,10), (1,2,10). In other words, a box that has LWH dimensions (1m)x(5m)x(10m). The [0,1,0] label indicates it will be rendered in green.