larvaworld.lib.model.modules.sensor2
====================================

.. py:module:: larvaworld.lib.model.modules.sensor2


Classes
-------

.. autoapisummary::

   larvaworld.lib.model.modules.sensor2.Sensor2
   larvaworld.lib.model.modules.sensor2.LightSensor
   larvaworld.lib.model.modules.sensor2.ProximitySensor


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

.. py:class:: Sensor2(robot: Any, delta_direction: float, saturation_value: float, error: float)

   Base class for robot sensors in 2D simulation.

   Provides interface for sensor value reading and visualization
   with configurable orientation, saturation, and noise.

   Attributes:
       robot: Parent robot instance.
       delta_direction: Sensor orientation offset in radians.
       saturation_value: Maximum sensor reading value.
       error: Sensor noise/error magnitude.
       value: Current sensor reading.

   Example:
       >>> sensor = Sensor2(
       ...     robot=my_robot,
       ...     delta_direction=0.5,
       ...     saturation_value=1.0,
       ...     error=0.1
       ... )


   .. py:attribute:: robot


   .. py:attribute:: delta_direction


   .. py:attribute:: saturation_value


   .. py:attribute:: error


   .. py:attribute:: value
      :value: 0



   .. py:method:: get_value() -> float


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


.. py:class:: LightSensor(robot: Any, delta_direction: float, saturation_value: float, error: float, scene: Any)

   Bases: :py:obj:`Sensor2`


   Light intensity sensor for robot navigation.

   Detects light sources in simulation environment, calculating
   intensity based on distance and direction using ray-casting.

   Attributes:
       LENGTH_SENSOR_LINE: Ray-casting distance for sensor (100 units).

   Example:
       >>> light_sensor = LightSensor(
       ...     robot=my_robot,
       ...     delta_direction=0.0,
       ...     saturation_value=100.0,
       ...     error=0.05,
       ...     scene=sim_scene
       ... )


   .. py:attribute:: LENGTH_SENSOR_LINE
      :value: 100



   .. py:method:: get_value() -> float


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


.. py:class:: ProximitySensor(robot: Any, delta_direction: float, saturation_value: float, error: float, max_distance: int, collision_distance: int = 12)

   Bases: :py:obj:`Sensor2`


   Proximity sensor for obstacle detection.

   Detects nearby obstacles using ray-casting, returning distance
   to nearest obstacle in sensor direction.

   Attributes:
       max_distance: Maximum detection range.
       collision_distance: Distance threshold for collision (default: 12).

   Example:
       >>> prox_sensor = ProximitySensor(
       ...     robot=my_robot,
       ...     delta_direction=-0.785,
       ...     saturation_value=50.0,
       ...     error=0.1,
       ...     max_distance=100
       ... )


   .. py:attribute:: max_distance


   .. py:attribute:: collision_distance
      :value: 12



   .. py:method:: get_value(pos: list[float] | None = None, direction: float | None = None) -> float


   .. py:method:: draw(pos: list[float] | None = None, direction: float | None = None) -> None