Pamoja.Sim 0.1.18

Pamoja.Sim

Noisy and replay sensors, a recording actuator, and a simulated robot that dead-reckons its pose. One capability of pamoja, one memory-safe Rust core with bindings for TypeScript, Python, and C#.

Install

dotnet add package Pamoja.Sim

using Pamoja.Sim;

This pulls in Pamoja.Native, the compiled engine, and Pamoja.Codec. dotnet add package Pamoja is the whole framework in one package.

Example

The guide project's example, spliced here as it ran in CI.

From bindings/dotnet/samples/Pamoja.Guides/SimGuide.cs:

// The clear distance ahead, in meters, taken from an earlier survey run. A replay
// hands it back one reading at a time, so the loop below sees the same input on
// every run: the same rover code, driven by a recording rather than a range finder.
float[] capture = [4.0f, 3.0f, 1.5f, 0.5f];
using var ahead = new Replay(capture);
using var throttle = new RecordingActuator();
using var rover = new SimulatedRobot(0.5f); // each command advances half a second

List<float> seen = [];
for (int step = 0; step < capture.Length; step++)
{
    float reading = await ahead.ReadAsync();
    seen.Add(reading);

    // Drive on while there is room ahead, otherwise stop and turn on the spot.
    bool clear = reading > 1.0f;
    float vx = clear ? 1.0f : 0.0f;
    float omega = clear ? 0.0f : 1.0f;
    await throttle.ApplyAsync(vx);
    await rover.ApplyAsync(new Twist(vx, Omega: omega));
    Console.WriteLine($"{reading} m ahead, so drive at {vx} and turn at {omega}");
}

// The recording actuator kept every command, which is how a test says what the
// control loop decided rather than only what it ended up doing.
Console.WriteLine($"commands  {string.Join(", ", throttle.Commands)}");

// Three half-second commands at 1 m/s reach 1.5 m along x. The last one turns on
// the spot at 1 rad/s for half a second, which moves the rover nowhere.
Pose pose = rover.Pose;
Console.WriteLine(
    $"pose      x {pose.X:F1} m, y {pose.Y:F1} m, heading {pose.Theta:F1} rad");

The same capability in every language

Documentation

• Pamoja.Sim reference, every type in this namespace.
• The Simulators guide, with the same example in Rust, TypeScript, and Python.
• Every capability, and the install page.

License

MIT