larvaworld.lib.model.modules.brain
==================================

.. py:module:: larvaworld.lib.model.modules.brain


Classes
-------

.. autoapisummary::

   larvaworld.lib.model.modules.brain.Brain
   larvaworld.lib.model.modules.brain.DefaultBrain


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

.. py:class:: Brain(conf: Any, agent: Any | None = None, dt: float | None = None, **kwargs: Any)

   Bases: :py:obj:`larvaworld.lib.param.NestedConf`


   Base brain class for agent behavioral control.

   Orchestrates sensory processing and locomotor control for autonomous
   agents in simulation. Integrates multiple sensory modalities (olfaction,
   touch, thermosensation, wind) with memory and locomotor modules.

   Attributes:
       olfactor: Olfactory sensor module for odor detection
       toucher: Tactile sensor module for contact sensing
       windsensor: Wind sensor module for air flow detection
       thermosensor: Temperature sensor module for thermal gradients
       locomotor: Locomotor module for movement control
       agent: Parent agent instance (polymorphic: LarvaRobot, LarvaSim, etc.)
       dt: Simulation time step (seconds)
       modalities: Dict of sensory modalities with sensors and processing functions

   Example:
       >>> brain = Brain(conf=brain_conf, agent=my_agent, dt=0.1)
       >>> brain.sense(pos=agent.pos, reward=False)
       >>> print(f"Total sensory input: {brain.A_in}")


   .. py:attribute:: olfactor


   .. py:attribute:: toucher


   .. py:attribute:: windsensor


   .. py:attribute:: thermosensor


   .. py:attribute:: agent
      :value: None



   .. py:attribute:: dt
      :value: None



   .. py:attribute:: locomotor
      :type:  larvaworld.lib.model.modules.locomotor.Locomotor


   .. py:attribute:: modalities


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


   .. py:method:: sense_odors(pos: Any | None = None) -> dict[str, Any]


   .. py:method:: sense_food_multi(**kwargs: Any) -> dict[Any, int]


   .. py:method:: sense_wind(**kwargs: Any) -> dict[str, float]


   .. py:method:: sense_thermo(pos: Any | None = None) -> dict[str, float]


   .. py:method:: sense(pos: Any | None = None, reward: bool = False) -> None


   .. py:property:: A_in
      :type: float



   .. py:property:: A_olf
      :type: float



   .. py:property:: A_touch
      :type: float



   .. py:property:: A_thermo
      :type: float



   .. py:property:: A_wind
      :type: float



.. py:class:: DefaultBrain(conf: Any, agent: Any | None = None, dt: float | None = None, **kwargs: Any)

   Bases: :py:obj:`Brain`


   Default larva brain implementation with full sensory integration.

   Extends base Brain with automatic sensor module construction
   and integrated locomotor stepping. Provides complete sensorimotor
   loop for autonomous larva agents.

   Args:
       conf: Brain configuration dict with keys:
             - 'olfactor': Olfactory sensor config (or None)
             - 'toucher': Tactile sensor config (or None)
             - 'windsensor': Wind sensor config (or None)
             - 'thermosensor': Thermal sensor config (or None)
             - 'memory': Memory module config (or None)
             - 'locomotor': Locomotor module config
       agent: Parent agent instance (LarvaRobot, LarvaSim, or compatible).
              Must have attributes: model, radius, pos, touch_sensorIDs
       dt: Simulation time step (seconds). Defaults to agent.model.dt
       **kwargs: Additional keyword arguments passed to parent Brain

   Returns:
       Tuple of (linear_velocity, angular_velocity, crawl_flag)

   Example:
       >>> brain = DefaultBrain(conf=brain_config, agent=my_larva, dt=0.1)
       >>> lin_vel, ang_vel, crawling = brain.step(pos=larva.pos, on_food=False)


   .. py:method:: step(pos: Any, on_food: bool = False, **kwargs: Any) -> tuple[float, float, bool]