larvaworld.lib.model.agents.braitenberg_robot
=============================================

.. py:module:: larvaworld.lib.model.agents.braitenberg_robot


Classes
-------

.. autoapisummary::

   larvaworld.lib.model.agents.braitenberg_robot.DifferentialDriveRobot
   larvaworld.lib.model.agents.braitenberg_robot.SensorDrivenRobot


Module Contents
---------------

.. py:class:: DifferentialDriveRobot(unique_id: str, model: Any, x: float, y: float, length: float, wheel_radius: float)

   Bases: :py:obj:`larvaworld.lib.model.modules.RotTriangle`


   Two-wheeled differential drive robot with triangular body.

   Implements differential steering kinematics where left/right wheel
   speeds control translation and rotation. Used as base for Braitenberg
   vehicle simulations with sensor-motor coupling.

   Attributes:
       speed_left_wheel: Angular velocity of left wheel (rad/s)
       speed_right_wheel: Angular velocity of right wheel (rad/s)
       wheel_radius: Radius of drive wheels (meters)
       length: Robot body length (meters)
       deltax: X displacement in last timestep
       deltay: Y displacement in last timestep

   Example:
       >>> robot = DifferentialDriveRobot(
       ...     unique_id='robot_1',
       ...     model=sim_model,
       ...     x=0.5, y=0.5,
       ...     length=0.01,
       ...     wheel_radius=0.002
       ... )
       >>> robot.speed_left_wheel = 1.0
       >>> robot.speed_right_wheel = 0.8
       >>> robot.step()  # Update position based on wheel speeds


   .. py:attribute:: model


   .. py:attribute:: unique_id


   .. py:attribute:: length


   .. py:attribute:: wheel_radius


   .. py:attribute:: speed_left_wheel
      :value: 0.0



   .. py:attribute:: speed_right_wheel
      :value: 0.0



   .. py:attribute:: deltax
      :value: None



   .. py:attribute:: deltay
      :value: None



   .. py:method:: step() -> None

      Updates x, y and direction



   .. py:method:: move_duration(seconds: float) -> None

      Moves the robot for an 's' amount of seconds



   .. py:method:: print_xyd() -> None

      Prints the x,y position and direction



   .. py:method:: delta_x() -> None


   .. py:method:: delta_y() -> None


   .. py:method:: delta_direction() -> None


.. py:class:: SensorDrivenRobot(**kwargs: Any)

   Bases: :py:obj:`DifferentialDriveRobot`


   Differential drive robot with sensorimotor control.

   Extends DifferentialDriveRobot with bilateral motor controllers
   and sensors, implementing reactive Braitenberg vehicle behaviors
   (obstacle avoidance, phototaxis, etc.) via sensor-motor coupling.

   Attributes:
       left_motor_controller: Left motor controller with sensor
       right_motor_controller: Right motor controller with sensor
       collision_with_object: Collision detection flag
       label: Optional robot label for visualization

   Example:
       >>> robot = SensorDrivenRobot(
       ...     unique_id='braitenberg_1',
       ...     model=sim_model,
       ...     x=0.5, y=0.5,
       ...     length=0.01,
       ...     wheel_radius=0.002
       ... )
       >>> robot.set_left_motor_controller(left_motor)
       >>> robot.set_right_motor_controller(right_motor)
       >>> robot.step()  # Sense and act


   .. py:attribute:: collision_with_object
      :value: False



   .. py:attribute:: left_motor_controller
      :value: None



   .. py:attribute:: right_motor_controller
      :value: None



   .. py:attribute:: label
      :value: None



   .. py:method:: step() -> None

      Updates x, y and direction



   .. py:method:: set_left_motor_controller(left_motor_controller: Any) -> None


   .. py:method:: set_right_motor_controller(right_motor_controller: Any) -> None


   .. py:method:: draw(scene: Any) -> None