diff --git a/.DS_Store b/.DS_Store index 5e11757..808661c 100644 Binary files a/.DS_Store and b/.DS_Store differ diff --git a/docs/code_of_conduct.rst b/docs/code_of_conduct.rst new file mode 100644 index 0000000..63606e6 --- /dev/null +++ b/docs/code_of_conduct.rst @@ -0,0 +1,4 @@ +Code of Conduct +=============== +.. include:: ../CODE_OF_CONDUCT.md + :parser: myst_parser.sphinx_ diff --git a/docs/conf.py b/docs/conf.py index bfd540c..843af38 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -1,6 +1,6 @@ #!/usr/bin/env python # -# shasta documentation build configuration file, created by +# SHaSTA documentation build configuration file, created by # sphinx-quickstart on Fri Jun 9 13:47:02 2017. # # This file is execfile()d with the current directory set to its @@ -20,9 +20,8 @@ import os import sys -sys.path.insert(0, os.path.abspath('..')) +sys.path.insert(0, os.path.abspath("..")) -import shasta # noqa # -- General configuration --------------------------------------------- @@ -33,33 +32,34 @@ # Add any Sphinx extension module names here, as strings. They can be # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom ones. extensions = [ - 'sphinx.ext.napoleon', - 'sphinx.ext.viewcode', - 'sphinx.ext.autodoc', - 'autoapi.extension', - 'sphinx.ext.inheritance_diagram', - 'sphinx.ext.githubpages', + "sphinx.ext.napoleon", + "sphinx.ext.viewcode", + "sphinx.ext.autodoc", + "autoapi.extension", + "sphinx.ext.inheritance_diagram", + "sphinx.ext.githubpages", "sphinx.ext.graphviz", + "myst_parser", ] # AutoAPI setting -autoapi_type = 'python' -autoapi_dirs = ['../shasta'] +autoapi_type = "python" +autoapi_dirs = ["../shasta"] # Add any paths that contain templates here, relative to this directory. -templates_path = ['_templates'] +templates_path = ["_templates"] # The suffix(es) of source filenames. # You can specify multiple suffix as a list of string: # -# source_suffix = ['.rst', '.md'] -source_suffix = '.rst' +source_suffix = [".rst", ".md"] +# source_suffix = ".rst" # The master toctree document. -master_doc = 'index' +master_doc = "index" # General information about the project. -project = 'shasta' +project = "SHaSTA" copyright = "2020, Hemanth Manjunatha" author = "Hemanth Manjunatha" @@ -68,9 +68,9 @@ # the built documents. # # The short X.Y version. -version = '0.1.0' +version = "0.1.0" # The full version, including alpha/beta/rc tags. -release = '0.1.0' +release = "0.1.0" # The language for content autogenerated by Sphinx. Refer to documentation # for a list of supported languages. @@ -81,7 +81,7 @@ # List of patterns, relative to source directory, that match files and # directories to ignore when looking for source files. # This patterns also effect to html_static_path and html_extra_path -exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store'] +exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"] # If true, the current module name will be prepended to all description # unit titles (such as .. function::). @@ -102,7 +102,7 @@ # The theme to use for HTML and HTML Help pages. See the documentation for # a list of builtin themes. # -html_theme = "sphinx_rtd_theme" +html_theme = "furo" # Theme options are theme-specific and customize the look and feel of a # theme further. For a list of options available for each theme, see the @@ -114,12 +114,12 @@ # relative to this directory. They are copied after the builtin static files, # so a file named "default.css" will overwrite the builtin "default.css". # html_static_path = ['_static'] -html_style = 'css/custom.css' +# html_style = 'css/custom.css' # -- Options for HTMLHelp output --------------------------------------- # Output file base name for HTML help builder. -htmlhelp_basename = 'shastadoc' +htmlhelp_basename = "SHaSTAdoc" # -- Options for LaTeX output ------------------------------------------ @@ -142,14 +142,14 @@ # (source start file, target name, title, author, documentclass # [howto, manual, or own class]). latex_documents = [ - (master_doc, 'shasta.tex', 'shasta Documentation', 'Hemanth Manjunatha', 'manual'), + (master_doc, "SHaSTA.tex", "SHaSTA Documentation", "Hemanth Manjunatha", "manual"), ] # -- Options for manual page output ------------------------------------ # One entry per manual page. List of tuples # (source start file, name, description, authors, manual section). -man_pages = [(master_doc, 'shasta', 'shasta Documentation', [author], 1)] +man_pages = [(master_doc, "SHaSTA", "SHaSTA Documentation", [author], 1)] # -- Options for Texinfo output ---------------------------------------- @@ -159,12 +159,12 @@ texinfo_documents = [ ( master_doc, - 'shasta', - 'shasta Documentation', + "SHaSTA", + "SHaSTA Documentation", author, - 'shasta', - 'One line description of project.', - 'Miscellaneous', + "SHaSTA", + "One line description of project.", + "Miscellaneous", ), ] diff --git a/docs/contributing.rst b/docs/contributing.rst index e582053..66c365e 100644 --- a/docs/contributing.rst +++ b/docs/contributing.rst @@ -1 +1,4 @@ -.. include:: ../CONTRIBUTING.rst +Contributing +=========== +.. include:: ../CONTRIBUTING.md + :parser: myst_parser.sphinx_ diff --git a/docs/html/.buildinfo b/docs/html/.buildinfo index 3646b93..7d46604 100644 --- a/docs/html/.buildinfo +++ b/docs/html/.buildinfo @@ -1,4 +1,4 @@ # Sphinx build info version 1 # This file hashes the configuration used when building these files. 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+ + + + + + + + + + + +
+
+
+ +
+
+
SHaSTA 0.1.0 documentation
 +
+
+
+ +
+ +
+
+ +
+
+
+ + + + + Back to top + +
+
+ +
+ +
+ +
+ +
+
- - - - - - - - - - +
+ + + + \ No newline at end of file diff --git a/docs/html/_modules/shasta/actor.html b/docs/html/_modules/shasta/actor.html new file mode 100644 index 0000000..217fe6c --- /dev/null +++ b/docs/html/_modules/shasta/actor.html @@ -0,0 +1,343 @@ + + + + + + + + shasta.actor - SHaSTA 0.1.0 documentation + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + + + +
+
+
+ +
+
+
SHaSTA 0.1.0 documentation
 +
+
+
+ +
+ +
+
+ +
+
+
+ + + + + Back to top + +
+
+ +
+ +
+
+

Source code for shasta.actor

+from abc import ABCMeta, abstractmethod
+from future.utils import with_metaclass
+
+
+
[docs]class BaseActor(with_metaclass(ABCMeta, object)):
+    """This the base class for single UGV robot"""
+
+
[docs]    physics_client = None

+
[docs]    _loaded = False

+
+    def __init__(self):
+        self.states = {}
+        self._actor_id = None
+        self.init_pos = None
+        self.init_orientation = None
+
+
[docs]    def _load(self):
+        """Load object into pybullet and return list of loaded body ids."""
+        if self._loaded:
+            raise ValueError("Cannot load an actor multiple times.")
+        self._loaded = True
+        actor_ids = self.load_asset()
+
+        if not isinstance(actor_ids, list):
+            actor_ids = [actor_ids]
+
+        self._actor_id = actor_ids[0]
+        return actor_ids

+
+
[docs]    def get_actor_id(self):
+        """Get the actor id
+
+        Returns
+        -------
+        int
+            The actor id in the simulation
+        """
+        return self._actor_id

+
+    @abstractmethod
+
[docs]    def load_asset(self, *args, **kwargs):
+        """Load the assests of the actor."""
+        raise NotImplementedError

+
+    @abstractmethod
+
[docs]    def reset(self, *args, **kwargs):
+        """Reset the actor
+
+        Raises
+        ------
+        NotImplementedError
+        """
+        raise NotImplementedError

+
+    @abstractmethod
+
[docs]    def get_observation(self, *args, **kwargs):
+        """Get the observation from the actor.
+
+        Raises
+        ------
+        NotImplementedError
+        """
+        raise NotImplementedError

+
+    @abstractmethod
+
[docs]    def apply_action(self, *args, **kwargs):
+        """Apply the action to the actor
+
+        Raises
+        ------
+        NotImplementedError
+        """
+        raise NotImplementedError

+
+    @abstractmethod
+
[docs]    def destroy(self, *args, **kwargs):
+        """Destroy the actor
+
+        Raises
+        ------
+        NotImplementedError
+        """
+        raise NotImplementedError

+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2020, Hemanth Manjunatha +
+ Made with Sphinx and @pradyunsg's + + Furo + +
+
+ +
+
+ +
+
+ +
+
+ + + + + \ No newline at end of file diff --git a/docs/html/_modules/shasta/base_experiment.html b/docs/html/_modules/shasta/base_experiment.html new file mode 100644 index 0000000..d28a892 --- /dev/null +++ b/docs/html/_modules/shasta/base_experiment.html @@ -0,0 +1,334 @@ + + + + + + + + shasta.base_experiment - SHaSTA 0.1.0 documentation + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + + + +
+
+
+ +
+
+
SHaSTA 0.1.0 documentation
 +
+
+
+ +
+ +
+
+ +
+
+
+ + + + + Back to top + +
+
+ +
+ +
+
+

Source code for shasta.base_experiment

+#!/usr/bin/env python
+
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+from abc import ABCMeta, abstractmethod
+from future.utils import with_metaclass
+
+
+
[docs]class BaseExperiment(with_metaclass(ABCMeta, object)):
+    def __init__(self, config, core, experiment_config=None, *args, **kargs):
+        """The base experiment which other experiments should inherit
+
+        Parameters
+        ----------
+        config : yaml
+            The experiment configuration file
+        core : object
+            The SHASTA core object
+
+        Returns
+        -------
+        None
+        """
+        self.config = config
+        self.core = core
+        self.exp_config = experiment_config
+
+        return None
+
+
[docs]    def reset(self):
+        """Called at the beginning and each time the simulation is reset"""
+        pass

+
+    @abstractmethod
+
[docs]    def get_action_space(self):
+        """Returns the action space"""
+        raise NotImplementedError

+
+    @abstractmethod
+
[docs]    def get_observation_space(self):
+        """Returns the observation space"""
+        raise NotImplementedError

+
+
[docs]    def get_actions(self):
+        """Returns the actions"""
+        raise NotImplementedError

+
+    @abstractmethod
+
[docs]    def apply_actions(self, actions, core):
+        """Given the action, applies the action to group or individual actor
+
+        :param action: value outputted by the policy
+        """
+        raise NotImplementedError

+
+    @abstractmethod
+
[docs]    def get_observation(self, observation, core):
+        """Function to do all the post processing of observations (sensor data).
+
+        :param sensor_data: dictionary {sensor_name: sensor_data}
+
+        Should return a tuple or list with two items, the processed observations,
+        as well as a variable with additional information about such observation.
+        The information variable can be empty
+        """
+        return NotImplementedError

+
+
[docs]    def get_done_status(self, observation, core):
+        """Returns whether or not the experiment has to end"""
+        return NotImplementedError

+
+
[docs]    def compute_reward(self, observation, core):
+        """Computes the reward"""
+        return NotImplementedError

+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2020, Hemanth Manjunatha +
+ Made with Sphinx and @pradyunsg's + + Furo + +
+
+ +
+
+ +
+
+ +
+
+ + + + + \ No newline at end of file diff --git a/docs/html/_modules/shasta/core.html b/docs/html/_modules/shasta/core.html new file mode 100644 index 0000000..731ba80 --- /dev/null +++ b/docs/html/_modules/shasta/core.html @@ -0,0 +1,478 @@ + + + + + + + + shasta.core - SHaSTA 0.1.0 documentation + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + + + +
+
+
+ +
+
+
SHaSTA 0.1.0 documentation
 +
+
+
+ +
+ +
+
+ +
+
+
+ + + + + Back to top + +
+
+ +
+ +
+
+

Source code for shasta.core

+import os
+import psutil
+import signal
+
+import pybullet as p
+from pybullet_utils import bullet_client as bc
+
+from .world import World
+from .map import Map
+
+from .utils import get_initial_positions
+
+
+
[docs]def kill_all_servers():
+    """Kill all PIDs that start with Carla"""
+    processes = [p for p in psutil.process_iter() if "carla" in p.name().lower()]
+    for process in processes:
+        os.kill(process.pid, signal.SIGKILL)

+
+
+
[docs]class ShastaCore:
+    """
+    Class responsible of handling all the different CARLA functionalities,
+    such as server-client connecting, actor spawning,
+    and getting the sensors data.
+    """
+
+    def __init__(self, config, actor_groups: dict = None):
+        """Initialize the server and client"""
+        self.config = config
+        self.actor_groups = actor_groups
+
+        # Verify if the actor groups is a dictionary
+        if not isinstance(self.actor_groups, dict):
+            raise TypeError('Actor groups should be of type dict')
+
+        # Setup world and map
+        self.world = World(config)
+        self.map = Map()
+
+        self.init_server()
+        self._setup_physics_client()
+
+
[docs]    def _setup_physics_client(self):
+        """Setup the physics client
+
+        Returns
+        -------
+        None
+        """
+        # Usage mode
+        if self.config['headless']:
+            self.physics_client = bc.BulletClient(connection_mode=p.DIRECT)
+        else:
+            options = '--background_color_red=0.85 --background_color_green=0.85 --background_color_blue=0.85'  # noqa
+            self.physics_client = bc.BulletClient(
+                connection_mode=p.GUI, options=options
+            )
+
+            # Set the camera parameters
+            self.camer_distance = 150.0
+            self.camera_yaw = 0.0
+            self.camera_pitch = -89.999
+            self.camera_target_position = [0, 30, 0]
+            self.physics_client.resetDebugVisualizerCamera(
+                cameraDistance=self.camer_distance,
+                cameraYaw=self.camera_yaw,
+                cameraPitch=self.camera_pitch,
+                cameraTargetPosition=self.camera_target_position,
+            )
+
+            self.physics_client.configureDebugVisualizer(
+                self.physics_client.COV_ENABLE_GUI, 0
+            )
+
+        # Set gravity
+        self.physics_client.setGravity(0, 0, -9.81)
+
+        # Set parameters for simulation
+        self.physics_client.setPhysicsEngineParameter(
+            fixedTimeStep=self.config['time_step'] / 10,
+            numSubSteps=1,
+            numSolverIterations=5,
+        )
+
+        # Inject physics client
+        if self.world.physics_client is None:
+            self.world.physics_client = self.physics_client
+
+        return None

+
+
[docs]    def get_physics_client(self):
+        """Ge the physics client
+
+        Returns
+        -------
+        object
+            The bullet physics client
+        """
+        return self.physics_client

+
+
[docs]    def init_server(self):
+        """Start a server on a random port"""
+        pass

+
+
[docs]    def setup_experiment(self, experiment_config):
+        """Initialize the hero and sensors"""
+
+        # Load the environment and setup the map
+        self.map.setup(experiment_config)
+        read_path = self.map.asset_path + '/environment_collision_free.urdf'
+        self.world.load_world_model(read_path)
+
+        # Spawn the actors in the physics client
+        self.spawn_actors()

+
+
[docs]    def get_world(self):
+        """Get the World object from the simulation
+
+        Returns
+        -------
+        object
+            The world object
+        """
+        return self.world

+
+
[docs]    def get_map(self):
+        """Get the Map object from the simulation
+
+        Returns
+        -------
+        object
+            The map object
+        """
+        return self.map

+
+
[docs]    def reset(self):
+        """This function resets / spawns the hero vehicle and its sensors"""
+
+        # Reset all the actors
+        for group_id in self.actor_groups:
+            # Check if the entry is a list or not
+            if not isinstance(self.actor_groups[group_id], list):
+                self.actor_groups[group_id] = [self.actor_groups[group_id]]
+
+            for actor in self.actor_groups[group_id]:
+                # Reset the actor and collect the observation
+                print(actor.init_pos)
+                actor.reset()
+
+        return None

+
+
[docs]    def spawn_actors(self):
+        """Spawns vehicles and walkers, also setting up the Traffic Manager and its parameters"""
+        for group_id in self.actor_groups:
+            # Check if the entry is a list or not
+            if not isinstance(self.actor_groups[group_id], list):
+                self.actor_groups[group_id] = [self.actor_groups[group_id]]
+
+            # Spawn the actors
+            spawn_point = self.map.get_cartesian_spawn_points()
+            positions = get_initial_positions(
+                spawn_point, 10, len(self.actor_groups[group_id])
+            )
+            for actor, position in zip(self.actor_groups[group_id], positions):
+                if actor.init_pos is None:
+                    actor.init_pos = position
+                else:
+                    actor.init_pos = self.map.convert_to_cartesian(actor.init_pos)
+
+                self.world.spawn_actor(actor, position)

+
+
[docs]    def get_actor_groups(self):
+        """Get the actor groups
+
+        Returns
+        -------
+        dict
+            The actor groups as a dict with group id as the key
+            list of actors as the value
+        """
+        return self.actor_groups

+
+
[docs]    def get_actors_by_group_id(self, group_id):
+        """Get a list of actor given by group id
+
+        Parameters
+        ----------
+        group_id : int
+            Group id to be returned
+
+        Returns
+        -------
+        list
+            A list of actor given the group id
+        """
+        return self.actor_groups[group_id]

+
+
[docs]    def tick(self):
+        """Performs one tick of the simulation, moving all actors, and getting the sensor data"""
+        observations = {}
+
+        # Tick once the simulation
+        self.physics_client.stepSimulation()
+
+        # Collect the raw observation from all the actors in each actor group
+        for group in self.actor_groups:
+            obs_from_each_actor = [
+                actor.get_observation() for actor in self.actor_groups[group]
+            ]
+
+            observations[group] = obs_from_each_actor
+
+        return observations

+
+
[docs]    def close_simulation(self):
+        """Close the simulation"""
+        p.disconnect(self.physics_client._client)

+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2020, Hemanth Manjunatha +
+ Made with Sphinx and @pradyunsg's + + Furo + +
+
+ +
+
+ +
+
+ +
+
+ + + + + \ No newline at end of file diff --git a/docs/html/_modules/shasta/env.html b/docs/html/_modules/shasta/env.html new file mode 100644 index 0000000..ce27bdf --- /dev/null +++ b/docs/html/_modules/shasta/env.html @@ -0,0 +1,341 @@ + + + + + + + + shasta.env - SHaSTA 0.1.0 documentation + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + + + +
+
+
+ +
+
+
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+

Source code for shasta.env

+#!/usr/bin/env python
+
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>.
+
+from __future__ import print_function
+
+import gym
+
+from .core import ShastaCore
+
+
+
[docs]class ShastaEnv(gym.Env):
+    """
+    This is a shasta environment, responsible of handling all the SHASTA related steps of the training.
+    """
+
+    def __init__(self, config, actor_groups: dict = None):
+        """Initializes the environment"""
+        self.config = config
+
+        # Check if experiment config is present
+        if not self.config["experiment"]:
+            raise Exception("The config should have experiment configuration")
+
+        # Setup the core
+        self.core = ShastaCore(self.config, actor_groups=actor_groups)
+        self.core.setup_experiment(self.config["experiment"])
+
+        # Setup the experiment
+        try:
+            experiment_config = self.config["experiment"]["config"]
+        except KeyError:
+            experiment_config = None
+        self.experiment = self.config["experiment"]["type"](
+            self.config["experiment"], self.core, experiment_config
+        )
+
+        if not self.experiment:
+            raise Exception(
+                "The experiment type cannot be empty. Please provide an experiment class"
+            )
+
+        self.action_space = self.experiment.get_action_space()
+        self.observation_space = self.experiment.get_observation_space()
+
+        self.reset()
+
+
[docs]    def reset(self):
+        """Reset the simulation
+
+        Returns
+        -------
+        [type]
+            [description]
+        """
+        self.experiment.reset()
+        self.core.reset()
+
+        # Tick once and get the observations
+        raw_data = self.core.tick()
+        observation, _ = self.experiment.get_observation(raw_data, self.core)
+        print('-' * 32)
+
+        return observation

+
+
[docs]    def step(self, action):
+        """Computes one tick of the environment in order to return the new observation,
+        as well as the rewards"""
+
+        self.experiment.apply_actions(action, self.core)
+        raw_data = self.core.tick()
+
+        observation, info = self.experiment.get_observation(raw_data, self.core)
+        done = self.experiment.get_done_status(observation, self.core)
+        reward = self.experiment.compute_reward(observation, self.core)
+
+        return observation, reward, done, info

+
+
[docs]    def close(self):
+        self.core.close_simulation()

+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2020, Hemanth Manjunatha +
+ Made with Sphinx and @pradyunsg's + + Furo + +
+
+ +
+
+ +
+
+ +
+
+ + + + + \ No newline at end of file diff --git a/docs/html/_modules/shasta/map.html b/docs/html/_modules/shasta/map.html new file mode 100644 index 0000000..364923b --- /dev/null +++ b/docs/html/_modules/shasta/map.html @@ -0,0 +1,529 @@ + + + + + + + + shasta.map - SHaSTA 0.1.0 documentation + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + + + +
+
+
+ +
+
+
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+
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+ + + + + Back to top + +
+
+ +
+ +
+
+

Source code for shasta.map

+import warnings
+
+from pathlib import Path
+
+import numpy as np
+import osmnx as ox
+import pandas as pd
+import networkx as nx
+
+import os
+
+from shasta.preprocessing.utils import extract_building_info
+
+# Import assests
+
[docs]directories = list(filter(os.path.isdir, os.listdir(os.getcwd())))

+if 'assets' in directories:
+
[docs]    assets_root = os.path.join('.', 'assets')

+else:
+    raise FileNotFoundError("Assests folder is not found under root directory")
+
+
+
[docs]class Map:
+    def __init__(self) -> None:
+        return None
+
+
[docs]    def _affine_transformation_and_graph(self):
+        """Performs initial conversion of the lat lon to cartesian"""
+        # Graph
+        read_path = self.asset_path + '/map.osm'
+        G = ox.graph_from_xml(read_path, simplify=True, bidirectional='walk')
+        self.node_graph = nx.convert_node_labels_to_integers(G)
+
+        # Transformation matrix
+        read_path = self.asset_path + '/coordinates.csv'
+        points = pd.read_csv(read_path)
+        target = points[['x', 'z']].values
+        source = points[['lat', 'lon']].values
+
+        # Pad the points with ones
+        X = np.hstack((source, np.ones((source.shape[0], 1))))
+        Y = np.hstack((target, np.ones((target.shape[0], 1))))
+        self.A, res, rank, s = np.linalg.lstsq(X, Y, rcond=None)
+
+        return None

+
+
[docs]    def _setup_building_info(self):
+        read_path = self.asset_path + '/map.osm'
+        self.buildings = extract_building_info(read_path, save_fig=False)

+
+
[docs]    def setup(self, experiment_config):
+        """Perform the initial experiment setup e.g., loading the map
+
+        Parameters
+        ----------
+        experiment_config : yaml
+            A yaml file providing the map configuration
+
+        Returns
+        -------
+        None
+
+        Raises
+        ------
+        FileNotFoundError
+            If the experiment config is none, raises a file not found error
+        """
+        self.experiment_config = experiment_config
+
+        # Read path for ths assets
+        try:
+            self.asset_path = '/'.join(
+                [assets_root, self.experiment_config['map_to_use']]
+            )
+        except FileNotFoundError:
+            try:
+                self.asset_path = '/'.join(
+                    [assets_root, self.experiment_config['map_to_use']]
+                )
+            except FileNotFoundError:
+                raise FileNotFoundError(
+                    f"Please verify the {self.experiment_config['map_to_use']} is available in asset folder"
+                )
+
+        # Initialize the assests
+        self._affine_transformation_and_graph()
+        self._setup_building_info()
+        return None

+
+
[docs]    def get_affine_transformation_and_graph(self):
+        """Get the transformation matrix and the node graph of the map
+
+        Returns
+        -------
+        array, node graph
+            The transformation matrix and the node graph
+        """
+        return self.A, self.node_graph

+
+
[docs]    def get_node_graph(self):
+        """Get the node graph of the world
+
+        Returns
+        -------
+        networkx graph
+            A node graph of the world map
+        """
+        return self.node_graph

+
+
[docs]    def get_node_info(self, node_index):
+        """Get the information about a node.
+
+        Parameters
+        ----------
+        id : int
+            Node ID
+
+        Returns
+        -------
+        dict
+            A dictionary containing all the information about the node.
+        """
+
+        return self.node_graph.nodes[node_index]

+
+
[docs]    def convert_to_lat_lon(self, point):
+        """Convert a given point to lat lon co-ordinates
+
+        Parameters
+        ----------
+        point : array
+            A numpy array in pybullet cartesian co-ordinates
+
+        Returns
+        -------
+        lat_lon : array
+            The lat lon co-ordinates
+        """
+        point[2] = 1
+        lat_lon = np.dot(point, np.linalg.inv(self.A))
+        return lat_lon

+
+
[docs]    def convert_to_cartesian(self, point):
+        """Convert a lat lon co-ordinates to cartesian coordinates
+
+        Parameters
+        ----------
+        point : array
+            A numpy array in lat lon co-ordinates co-ordinates
+
+        Returns
+        -------
+        lat_lon : array
+            The cartesian coordinates
+        """
+        return np.dot([point[0], point[1], 1], self.A)

+
+
[docs]    def get_building_info(self, building_index):
+        """Get the information about a building such as perimeter,
+        position, number of floors.
+
+        Parameters
+        ----------
+        id : int
+            Building ID
+
+        Returns
+        -------
+        dict
+            A dictionary containing all the information about the building.
+        """
+        return self.buildings.loc[self.buildings['id'] == building_index]

+
+
[docs]    def get_lat_lon_spawn_points(self, n_points=5):
+        """Get the latitude and longitude spawn points
+
+        Parameters
+        ----------
+        n_points : int, optional
+            Number of points to random latitude and longitude points, by default 5
+
+        Returns
+        -------
+        array
+            An array of cartesian spawn points
+        """
+        # TODO: Verify if the projection is correct and the warning is not
+        # affecting the values
+        with warnings.catch_warnings():
+            warnings.simplefilter("ignore")
+            gdf = ox.utils_geo.sample_points(self.node_graph, n_points)
+            points = np.vstack([gdf.centroid.y, gdf.centroid.x]).T
+        return points

+
+
[docs]    def get_cartesian_node_position(self, node_index):
+        """Get the cartesian co-ordinates given the node index
+
+        Parameters
+        ----------
+        node_index : int
+            The node index in the map
+
+        Returns
+        -------
+        array
+            The cartesian co-ordinates
+        """
+        node_info = self.get_node_info(node_index=node_index)
+        lat = node_info['y']
+        lon = node_info['x']
+        cartesian_pos = np.dot([lat, lon, 1], self.A)
+        return cartesian_pos

+
+
[docs]    def get_lat_lon_node_position(self, node_index):
+        """Get the lat and lon given the node index
+
+        Parameters
+        ----------
+        node_index : int
+            The node index in the map
+
+        Returns
+        -------
+        array
+            The cartesian co-ordinates
+        """
+        node_info = self.get_node_info(node_index=node_index)
+        lat = node_info['y']
+        lon = node_info['x']
+        return [lat, lon]

+
+
[docs]    def get_cartesian_spawn_points(self, n_points=5):
+        """Get the cartesian spawn points
+
+        Parameters
+        ----------
+        n_points : int, optional
+            Number of points to random cartesian co-ordinates, by default 5
+
+        Returns
+        -------
+        array
+            An array of cartesian spawn points
+        """
+        lat_lon_points = self.get_lat_lon_spawn_points(n_points)
+
+        cartesian_spawn_points = []
+        for point in lat_lon_points:
+            cartesian_spawn_points.append(np.dot([point[0], point[1], 1], self.A))
+        return cartesian_spawn_points[0]

+
+
[docs]    def get_all_buildings(self):
+        """Get all the buildings
+
+        Returns
+        -------
+        dataframe
+            A dataframe with all the building information
+        """
+        return self.buildings

+
+
[docs]    def get_transformation_matrix(self):
+        """Get the transformation matrix to convert lat lon to cartesian
+
+        Returns
+        -------
+        array
+            The transformation matrix
+        """
+        return self.A

+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2020, Hemanth Manjunatha +
+ Made with Sphinx and @pradyunsg's + + Furo + +
+
+ +
+
+ +
+
+ +
+
+ + + + + \ No newline at end of file diff --git a/docs/html/_modules/shasta/preprocessing/bake_texture.html b/docs/html/_modules/shasta/preprocessing/bake_texture.html new file mode 100644 index 0000000..6911675 --- /dev/null +++ b/docs/html/_modules/shasta/preprocessing/bake_texture.html @@ -0,0 +1,344 @@ + + + + + + + + shasta.preprocessing.bake_texture - SHaSTA 0.1.0 documentation + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + + + +
+
+
+ +
+
+
SHaSTA 0.1.0 documentation
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+
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+ +
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+
+ +
+ +
+
+

Source code for shasta.preprocessing.bake_texture

+import bpy
+
+
[docs]ops = bpy.ops

+scene = bpy.context.scene
+
[docs]mesh = bpy.ops.mesh

+
+# Delete default scene objects
+ops.object.select_all()
+ops.object.select_all()
+ops.object.delete()
+
+bpy.context.scene.render.engine = 'BLENDER_RENDER'
+
+# Import the model from our Three scene
+ops.import_scene.obj(filepath="map.obj")
+
+# Join the obj file
+
[docs]scene = bpy.context.scene

+
[docs]obs = []

+for ob in scene.objects:
+    # whatever objects you want to join...
+    if ob.type == 'MESH':
+        obs.append(ob)
+
[docs]ctx = bpy.context.copy()

+# one of the objects to join
+ctx['active_object'] = obs[0]
+ctx['selected_objects'] = obs
+bpy.ops.object.join(ctx)
+
+# Smake UV project
+for obj in bpy.context.selected_objects:
+    if obj.type == 'MESH':
+        bpy.context.scene.objects.active = obj
+        bpy.ops.object.editmode_toggle()
+        bpy.ops.mesh.select_all(action='SELECT')
+        bpy.ops.uv.smart_project(stretch_to_bounds=0)
+        bpy.ops.object.editmode_toggle()
+
+# Set it to active and go into edit mode
+ops.object.mode_set(mode='EDIT')
+
+# Mesh cleanup step, since what's coming out of Three is mostly cubes laying side by side.
+# Unwrap the mesh
+bpy.ops.mesh.uv_texture_add()
+mesh.select_all()
+ops.uv.lightmap_pack(PREF_IMG_PX_SIZE=4096)
+
+# Create a new image to bake the lighting in to
+bpy.ops.image.new(name="AO Map", width=4096, height=4096, alpha=0)
+
[docs]image = bpy.data.images['AO Map']

+
+# Bake the lightmap
+bpy.ops.mesh.select_all(action='SELECT')
+for area in bpy.data.screens['UV Editing'].areas:
+    if area.type == 'IMAGE_EDITOR':
+        area.spaces.active.image = image
+bpy.context.scene.render.bake_type = 'TEXTURE'
+bpy.ops.object.bake_image()
+
+# Save the baked image
+image.filepath_raw = "map.png"
+image.file_format = "PNG"
+image.save()
+
+ops.object.mode_set(mode='OBJECT')
+# Delete all the texture and apply from image
+for ob in bpy.data.objects:
+    if ob.type != 'MESH' or len(ob.material_slots) == 0:
+        continue
+    ob.select = True
+    bpy.context.scene.objects.active = ob
+
[docs]    matslots = len(ob.material_slots)

+    for i in range(0, matslots):
+        bpy.context.object.active_material_index = i
+        bpy.ops.object.material_slot_remove()
+
+# Add new material
+
[docs]mat = bpy.data.materials['Material']

+
[docs]tex = bpy.data.textures.new("SomeName", 'IMAGE')

+
[docs]slot = mat.texture_slots.add()

+slot.texture = tex
+
+# Save the obj file
+bpy.ops.export_scene.obj(filepath='map.obj')
+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2020, Hemanth Manjunatha +
+ Made with Sphinx and @pradyunsg's + + Furo + +
+
+ +
+
+ +
+
+ +
+
+ + + + + \ No newline at end of file diff --git a/docs/html/_modules/shasta/preprocessing/preprocess.html b/docs/html/_modules/shasta/preprocessing/preprocess.html new file mode 100644 index 0000000..8263e4a --- /dev/null +++ b/docs/html/_modules/shasta/preprocessing/preprocess.html @@ -0,0 +1,335 @@ + + + + + + + + shasta.preprocessing.preprocess - SHaSTA 0.1.0 documentation + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + + + +
+
+
+ +
+
+
SHaSTA 0.1.0 documentation
 +
+
+
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+ +
+
+ +
+
+
+ + + + + Back to top + +
+
+ +
+ +
+
+

Source code for shasta.preprocessing.preprocess

+import os
+from pathlib import Path
+import shutil
+
+
+import networkx as nx
+import osmnx as ox
+
+
+
[docs]class PreProcess:
+    def __init__(self, osm_map_path=None, blender_path=None) -> None:
+        self.osm_map_path = osm_map_path
+        self.blender_path = blender_path
+
+
[docs]    def _save_building_info(self):
+        raise NotImplementedError

+
+
[docs]    def _save_graph_info(self):
+        raise NotImplementedError

+
+
[docs]    def run_processing():
+
+        # Create the 3D world from the map.osm file
+        os.system(
+            "java -jar OSM2World.jar --config texture_config.properties -i map.osm -o map.obj"  # noqa
+        )
+
+        # Save OSMNX graph
+        G = ox.graph_from_xml('map.osm', simplify=True, bidirectional='walk')
+        G = nx.convert_node_labels_to_integers(G)
+
+        # Use the blender to bake the texture
+        blender_path = "/Applications/blender.app/Contents/MacOS/blender"
+        os.system(blender_path + " --background  --python bake_texture.py")
+
+        # Tidy up things and move the files to respective folders
+        print('-' * 32)
+        print('Preprocessing completed successfully')
+        print('-' * 32)
+
+        name = input("Please provide a name for the new asset: ")
+
+        # Create a directory
+        parent_folder = name
+        meshes_folder = name + '/meshes'
+        Path(parent_folder).mkdir(parents=True, exist_ok=True)
+        Path(meshes_folder).mkdir(parents=True, exist_ok=True)
+
+        # Move map.osm and coordinates inside the parent folder
+        def move_files(file_name, directory):
+            try:
+                shutil.copy(file_name, directory + '/' + file_name)
+            except FileNotFoundError:
+                pass
+
+        files = [
+            'map.osm',
+            'coordinates.csv',
+            'environment.urdf',
+            'environment_collision_free.urdf',
+        ]
+        for file in files:
+            move_files(file, parent_folder)
+
+        files = ['map.obj', 'map.png', 'map.mtl']
+        for file in files:
+            move_files(file, meshes_folder)
+
+        # Finaly move the whole folder to data folder
+        shutil.move(name, '../data/assets/')

+
+
+if __name__ == "__main__":
+
[docs]    preprocess = PreProcess()

+    preprocess.run_processing()
+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2020, Hemanth Manjunatha +
+ Made with Sphinx and @pradyunsg's + + Furo + +
+
+ +
+
+ +
+
+ +
+
+ + + + + \ No newline at end of file diff --git a/docs/html/_modules/shasta/preprocessing/utils.html b/docs/html/_modules/shasta/preprocessing/utils.html new file mode 100644 index 0000000..80306e9 --- /dev/null +++ b/docs/html/_modules/shasta/preprocessing/utils.html @@ -0,0 +1,314 @@ + + + + + + + + shasta.preprocessing.utils - SHaSTA 0.1.0 documentation + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + + + +
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Source code for shasta.preprocessing.utils

+from pathlib import Path
+
+import numpy as np
+import pandas as pd
+
+
+import networkx as nx
+import osmnx as ox
+
+
+
[docs]def extract_building_info(osm_path, save_fig=False):
+    """Perfrom initial building setup."""
+    read_path = osm_path
+    G = ox.graph_from_xml(read_path, retain_all=True)
+
+    # TODO: This method doesn't work if the building info is not there in OSM
+    nodes, streets = ox.graph_to_gdfs(G)
+
+    west, north, east, south = nodes.geometry.total_bounds
+    polygon = ox.utils_geo.bbox_to_poly(north, south, east, west)
+    gdf = ox.geometries.geometries_from_polygon(polygon, tags={'building': True})
+    buildings_proj = ox.project_gdf(gdf, to_crs="EPSG:4326").to_crs(4328)
+
+    # Building Info
+    building_info = buildings_proj.copy()
+
+    # Add more information
+    # Save the dataframe representing buildings
+    building_info['lon'] = buildings_proj['geometry'].centroid.x
+    building_info['lat'] = buildings_proj['geometry'].centroid.y
+    building_info['area'] = buildings_proj.area
+    building_info['perimeter'] = buildings_proj.length
+    try:
+        building_info.loc[:, 'height'] = buildings_proj['height']
+    except KeyError:
+        building_info.loc[:, 'height'] = 10  # assumption
+    building_info['id'] = np.arange(len(buildings_proj))
+
+    if save_fig:
+        save_path = Path(osm_path)
+        ox.plot_graph(G)
+        ox.plot.plot_footprints(
+            buildings_proj, save=True, filepath=save_path.with_suffix('.jpg')
+        )
+
+    return building_info

+
+
+
[docs]def save_buildings_map(osm_path):
+    raise NotImplementedError

+
+
+
[docs]def extract_path_info(osm_path):
+    raise NotImplementedError

+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2020, Hemanth Manjunatha +
+ Made with Sphinx and @pradyunsg's + + Furo + +
+
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+
+ + + + + \ No newline at end of file diff --git a/docs/html/_modules/shasta/primitives/formation.html b/docs/html/_modules/shasta/primitives/formation.html new file mode 100644 index 0000000..65d21ec --- /dev/null +++ b/docs/html/_modules/shasta/primitives/formation.html @@ -0,0 +1,396 @@ + + + + + + + + shasta.primitives.formation - SHaSTA 0.1.0 documentation + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + + + +
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Source code for shasta.primitives.formation

+import numpy as np
+import networkx as nx
+import osmnx as ox
+
+
+
[docs]class Formation(object):
+    """Formation control primitive using region based shape control.
+    Coded by: Apurvakumar Jani, Date: 18/9/2019
+    """
+
+    def __init__(self, config=None):
+        # Initialise the parameters
+        self.a = 5
+        self.b = 5
+        self.knn = 6
+        self.alpha = 0.5
+        self.gamma = 0.5
+        self.min_dis = 2
+        self.dt = 1.0
+        return None
+
+
[docs]    def calculate_vel(
+        self, vehicle, dt, all_drones_pos, centroid_pos, path_vel, vmax, formation_type
+    ):
+        """Calculate the vehicle velocity depending on the position of the peer vehicles
+
+        Parameters
+        ----------
+        vehicle : class instance
+            A class instance of UxV agent
+        dt : float
+            Time step duration (in seconds) to use in next position calculation
+        all_drones_pos : aarray
+            An array with position of all the vehicles in the group/platoon
+        centroid_pos : array
+            An array specifying the centroid of the platoon
+        path_vel : float
+            Path velocity calculated from next position and current position
+        vmax : float
+            Maximum velocity of the vehicle
+        formation_type : str
+            Whether the formation is solid or ring
+
+        Returns
+        -------
+        vehicle : class instance
+            A vehicle class instance with updated position
+        """
+
+        # Get the neighboor position
+        curr_pos = np.asarray(vehicle.current_pos[0:2])
+        peers_pos = all_drones_pos
+
+        # Calculate the velocity of each neighboor particle
+        k = 1 / self.knn  # constant
+        g_lij = (self.min_dis**2) - np.linalg.norm(
+            curr_pos - peers_pos, axis=1, ord=2
+        )
+        del_g_ij = 2 * (peers_pos - curr_pos)
+        P_ij = k * np.dot(np.maximum(0, g_lij / (self.min_dis**2)) ** 2, del_g_ij)
+        f_g_ij = (
+            np.linalg.norm(
+                (curr_pos - centroid_pos[0:2]) / np.array([self.a, self.b]), ord=2
+            )
+            - 1
+        )
+
+        # Calculate path velocity
+        kl = 1  # constant
+        del_f_g_ij = 1 * (curr_pos - centroid_pos[0:2])
+        del_zeta_ij = (kl * max(0, f_g_ij)) * del_f_g_ij
+        vel = path_vel - (self.alpha * del_zeta_ij) - (self.gamma * P_ij)
+
+        # Calculate the speed
+        speed = np.linalg.norm(vel)
+
+        # Normalize the velocity with respect to speed
+        if speed > vmax:
+            vel = (vel / speed) * vmax
+
+        # New position
+        vehicle.desired_pos[0:2] = vehicle.current_pos[0:2] + (vel) * dt
+
+        return vehicle, speed

+
+
[docs]    def execute(self, vehicles, next_pos, centroid_pos, formation_type):
+        """Get the position of the formation control
+
+        Parameters
+        ----------
+        vehicles : list
+            A list containing UAV or UGV class
+        centroid_pos : array
+            An array containing the x, y, and z position
+        dt : float
+            Time step to be used for distance calculation
+        """
+        vmax = vehicles[0].speed
+        all_drones_pos = np.asarray([vehicle.current_pos[0:2] for vehicle in vehicles])
+
+        # Path velocity
+        path = np.array([next_pos[0], next_pos[1]]) - centroid_pos[0:2]
+        path_vel = (1 / self.dt) * path
+        if np.linalg.norm(path_vel) > vmax:
+            path_vel = (path_vel / np.linalg.norm(path_vel)) * vmax
+
+        # Loop over each drone to calculate the velocity
+        # NOTE: Very complicated way to implementing list comprehension
+        # TODO: Need to find an efficient way to implement formation control
+        vehicles, speed = map(
+            list,
+            zip(
+                *[
+                    self.calculate_vel(
+                        vehicle,
+                        self.dt,
+                        all_drones_pos,
+                        centroid_pos,
+                        path_vel,
+                        vmax,
+                        formation_type,
+                    )
+                    for vehicle in vehicles
+                ]
+            ),
+        )
+        if np.max(speed) < 0.015 * len(all_drones_pos):
+            formation_done = True
+        else:
+            formation_done = False
+
+        # Apply the control
+        for vehicle in vehicles:
+            vehicle.apply_action(vehicle.desired_pos)
+
+        return vehicles, formation_done

+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2020, Hemanth Manjunatha +
+ Made with Sphinx and @pradyunsg's + + Furo + +
+
+ +
+
+ +
+
+ +
+
+ + + + + \ No newline at end of file diff --git a/docs/html/_modules/shasta/primitives/path_planning.html b/docs/html/_modules/shasta/primitives/path_planning.html new file mode 100644 index 0000000..3ea22f5 --- /dev/null +++ b/docs/html/_modules/shasta/primitives/path_planning.html @@ -0,0 +1,378 @@ + + + + + + + + shasta.primitives.path_planning - SHaSTA 0.1.0 documentation + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + + + +
+
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+
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+

Source code for shasta.primitives.path_planning

+import numpy as np
+import networkx as nx
+import osmnx as ox
+
+
+
[docs]class PathPlanning(object):
+    """Path planner based on the skeleton of the image.
+    Generates a spline path
+    """
+
+    def __init__(self, env_map):
+        self.map = env_map
+        self.A, self.G = self.map.get_affine_transformation_and_graph()
+        return None
+
+
[docs]    def linear_refine_implicit(self, x, n):
+        """Given a 2D ndarray (npt, m) of npt coordinates in m dimension,
+        insert 2**(n-1) additional points on each trajectory segment
+        Returns an (npt*2**(n-1), m) ndarray
+
+        Parameters
+        ----------
+        x : array
+            A 2D input array
+        n : int
+            Number of intermediate points to insert between two consecutive points in x
+
+        Returns
+        -------
+        array
+            An array with interploated points
+
+        Raises
+        ------
+        NotImplementedError
+            The functions is not implemented for 3D or higher dimensions
+        ValueError
+            Number of intermediate points should be greated than zero
+        """
+        if n > 1:
+            m = 0.5 * (x[:-1] + x[1:])
+            if x.ndim == 2:
+                msize = (x.shape[0] + m.shape[0], x.shape[1])
+            else:
+                raise NotImplementedError
+
+            x_new = np.empty(msize, dtype=x.dtype)
+            x_new[0::2] = x
+            x_new[1::2] = m
+            return self.linear_refine_implicit(x_new, n - 1)
+        elif n == 1:
+            return x
+        else:
+            raise ValueError

+
+
[docs]    def find_path(self, start, end, n_splits=1):
+        """Finds a path between start and end using path graph
+
+        Parameters
+        ----------
+        start : array
+            A cartesian co-ordinate specifying the start position
+        end : array
+            A node ID specifying the end position
+        n_splits : int, optional
+            Number of splits in refining the path points, by default 1
+
+        Returns
+        -------
+        path_points : array
+            A refined path points in pybullet cartesian co-ordinate system
+        """
+        x = []
+        y = []
+
+        # Convert the node index to node ID
+        # TODO: Very dirty way to implement
+        # TODO: Verify the implementation of nearest nodes
+        if not isinstance(start, (int, np.int64)):
+            start_lat_lon = self.map.convert_to_lat_lon(start)
+            start = ox.distance.nearest_nodes(
+                self.G, X=start_lat_lon[1], Y=start_lat_lon[0]
+            )
+        if not isinstance(end, (int, np.int64)):
+            end_lat_lon = self.map.convert_to_lat_lon(end)
+            end = ox.distance.nearest_nodes(self.G, X=end_lat_lon[1], Y=end_lat_lon[0])
+
+        route = nx.shortest_path(self.G, start, end, weight='length')
+        for u, v in zip(route[:-1], route[1:]):
+            # if there are parallel edges, select the shortest in length
+            data = min(self.G.get_edge_data(u, v).values(), key=lambda d: d["length"])
+            if "geometry" in data:
+                # if geometry attribute exists, add all its coords to list
+                xs, ys = data["geometry"].xy
+                x.extend(xs)
+                y.extend(ys)
+            else:
+                # otherwise, the edge is a straight line from node to node
+                x.extend((self.G.nodes[u]["x"], self.G.nodes[v]["x"]))
+                y.extend((self.G.nodes[u]["y"], self.G.nodes[v]["y"]))
+
+        # Add more path points for smooth travel
+        lat_lon = np.array((x, y)).T
+        refined_points = self.linear_refine_implicit(lat_lon, n=n_splits)
+        refined_points = np.hstack(
+            (refined_points, np.ones((refined_points.shape[0], 1)))
+        )
+
+        # Exchange x and y as they are reversed in pybullet
+        refined_points[:, [1, 0]] = refined_points[:, [0, 1]]
+
+        # Convert the lat lon to pybullet co-ordinates
+        path_points = np.dot(refined_points, self.A)
+
+        return path_points

+
+
[docs]    def execute(self):
+        raise NotImplementedError

+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2020, Hemanth Manjunatha +
+ Made with Sphinx and @pradyunsg's + + Furo + +
+
+ +
+
+ +
+
+ +
+
+ + + + + \ No newline at end of file diff --git a/docs/html/_modules/shasta/utils.html b/docs/html/_modules/shasta/utils.html new file mode 100644 index 0000000..a80365c --- /dev/null +++ b/docs/html/_modules/shasta/utils.html @@ -0,0 +1,286 @@ + + + + + + + + shasta.utils - SHaSTA 0.1.0 documentation + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + + + +
+
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+

Source code for shasta.utils

+import numpy as np
+
+
+
[docs]def get_initial_positions(cartesian_pos, r, n):
+    """Initial position for actor in the form of a ring
+
+    Parameters
+    ----------
+    cartesian_pos : array
+        Initial cartesian pos
+    r : float
+        Radius of formation
+    n : int
+        Number of points in the circle
+
+    Returns
+    -------
+    array
+        An array of points in the form of a ring
+    """
+    positions = []
+    t = np.linspace(0, 2 * np.pi, n)
+    x = cartesian_pos[0] + r * np.cos(t)
+    y = cartesian_pos[1] + r * np.sin(t)
+    positions = np.asarray([x, y, x * 0 + 1]).T.tolist()
+    return positions

+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2020, Hemanth Manjunatha +
+ Made with Sphinx and @pradyunsg's + + Furo + +
+
+ +
+
+ +
+
+ +
+
+ + + + + \ No newline at end of file diff --git a/docs/html/_modules/shasta/visualize.html b/docs/html/_modules/shasta/visualize.html new file mode 100644 index 0000000..102a3d8 --- /dev/null +++ b/docs/html/_modules/shasta/visualize.html @@ -0,0 +1,283 @@ + + + + + + + + shasta.visualize - SHaSTA 0.1.0 documentation + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + + + +
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Source code for shasta.visualize

+import matplotlib.pyplot as plt
+import networkx as nx
+import osmnx as ox
+
+
+
[docs]def plot_nodes(config):
+    """Visualize the node graph
+
+    Parameters
+    ----------
+    config : yaml
+        a yaml file providing the configuration
+    """
+    read_path = '/'.join(
+        [config['urdf_data_path'], config['simulation']['map_to_use'], 'map.osm']
+    )
+    G = ox.graph_from_xml(read_path, simplify=True, bidirectional='walk')
+    G = nx.convert_node_labels_to_integers(G)
+    fig, ax = ox.plot_graph(G, show=False)
+    for i, node in enumerate(G.nodes):
+        ax.annotate(str(i), (G.nodes[i]['x'], G.nodes[i]['y']), c='w')
+    plt.tight_layout()
+    plt.show()

+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2020, Hemanth Manjunatha +
+ Made with Sphinx and @pradyunsg's + + Furo + +
+
+ +
+
+ +
+
+ +
+
+ + + + + \ No newline at end of file diff --git a/docs/html/_modules/shasta/world.html b/docs/html/_modules/shasta/world.html new file mode 100644 index 0000000..926c855 --- /dev/null +++ b/docs/html/_modules/shasta/world.html @@ -0,0 +1,352 @@ + + + + + + + + shasta.world - SHaSTA 0.1.0 documentation + + + + + + + + + + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + + + +
+
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Source code for shasta.world

+import numpy as np
+
+
+
[docs]class World:
+    def __init__(self, config):
+        super(World, self).__init__()
+        # Need to specify some parameters
+        self.config = config
+        self.actor_ids = []
+
+        # Setup the phsysics client
+        self.physics_client = None
+
+        return None
+
+
[docs]    def load_world_model(self, read_path):
+        """Load the URDF model
+
+        Parameters
+        ----------
+        read_path : str
+            The path to the URDF model
+        """
+
+        if self.physics_client is not None:
+            self.physics_client.loadURDF(
+                read_path,
+                [0, 0, 0],
+                self.physics_client.getQuaternionFromEuler([np.pi / 2, 0, 0]),
+                flags=self.physics_client.URDF_USE_MATERIAL_COLORS_FROM_MTL,
+                useFixedBase=True,
+            )

+
+
[docs]    def change_camera_position(
+        self,
+        camera_distance=150.0,
+        camera_yaw=0.0,
+        camera_pitch=-89.999,
+        camera_target_position=[0, 30, 0],
+    ):
+        """Change the world camera position
+
+        Parameters
+        ----------
+        camera_distance : float, optional
+            Camera distance from target, by default 150
+        camera_yaw : float, optional
+            Camera yaw, by default 0
+        camera_pitch : float, optional
+            Camera pitch, by default -89.999
+        camera_target_position : list, optional
+            Camera target position, by default [0, 30, 0]
+
+        Returns
+        -------
+        None
+        """
+        self.camer_distance = camera_distance
+        self.camera_yaw = camera_yaw
+        self.camera_pitch = camera_pitch
+        self.camera_target_position = camera_target_position
+
+        self.physics_client.resetDebugVisualizerCamera(
+            cameraDistance=camera_distance,
+            cameraYaw=camera_yaw,
+            cameraPitch=camera_pitch,
+            cameraTargetPosition=camera_target_position,
+        )
+        return None

+
+
[docs]    def spawn_actor(self, actor, spawn_point):
+        """Spawn the actor at a given point
+
+        Parameters
+        ----------
+        actor : object
+            An actor to spawm
+        spawn_point : array
+            Spawn point
+
+        Returns
+        -------
+        None
+        """
+        # Check if the physic client is added to the actor
+        if actor.physics_client is None:
+            actor.physics_client = self.physics_client
+
+        # Load the actor
+        actor._load()
+        self.actor_ids.append(actor.get_actor_id())
+        return None

+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2020, Hemanth Manjunatha +
+ Made with Sphinx and @pradyunsg's + + Furo + +
+
+ +
+
+ +
+
+ +
+
+ + + + + \ No newline at end of file diff --git a/docs/html/_sources/autoapi/index.rst.txt b/docs/html/_sources/autoapi/index.rst.txt index 3d8f43f..9e28b8c 100644 --- a/docs/html/_sources/autoapi/index.rst.txt +++ b/docs/html/_sources/autoapi/index.rst.txt @@ -6,11 +6,6 @@ This page contains auto-generated API reference documentation [#f1]_. .. toctree:: :titlesonly: - /autoapi/utils/index - /autoapi/main/index - /autoapi/__initi__/index - /autoapi/default_actions/index - /autoapi/gui/index - /autoapi/envs/index + /autoapi/shasta/index .. [#f1] Created with `sphinx-autoapi `_ \ No newline at end of file diff --git a/docs/html/_sources/autoapi/shasta/actor/index.rst.txt b/docs/html/_sources/autoapi/shasta/actor/index.rst.txt new file mode 100644 index 0000000..e81478a --- /dev/null +++ b/docs/html/_sources/autoapi/shasta/actor/index.rst.txt @@ -0,0 +1,87 @@ +:py:mod:`shasta.actor` +====================== + +.. py:module:: shasta.actor + + +Module Contents +--------------- + +Classes +~~~~~~~ + +.. autoapisummary:: + + shasta.actor.BaseActor + + + + +.. py:class:: BaseActor + + + Bases: :py:obj:`with_metaclass`\ (\ :py:obj:`ABCMeta`\ , :py:obj:`object`\ ) + + This the base class for single UGV robot + + .. py:attribute:: physics_client + + + + .. py:attribute:: _loaded + :value: False + + + + .. py:method:: _load() + + Load object into pybullet and return list of loaded body ids. + + + .. py:method:: get_actor_id() + + Get the actor id + + :returns: The actor id in the simulation + :rtype: int + + + .. py:method:: load_asset(*args, **kwargs) + :abstractmethod: + + Load the assests of the actor. + + + .. py:method:: reset(*args, **kwargs) + :abstractmethod: + + Reset the actor + + :raises NotImplementedError: + + + .. py:method:: get_observation(*args, **kwargs) + :abstractmethod: + + Get the observation from the actor. + + :raises NotImplementedError: + + + .. py:method:: apply_action(*args, **kwargs) + :abstractmethod: + + Apply the action to the actor + + :raises NotImplementedError: + + + .. py:method:: destroy(*args, **kwargs) + :abstractmethod: + + Destroy the actor + + :raises NotImplementedError: + + + diff --git a/docs/html/_sources/autoapi/shasta/base_experiment/index.rst.txt b/docs/html/_sources/autoapi/shasta/base_experiment/index.rst.txt new file mode 100644 index 0000000..6c5fbe3 --- /dev/null +++ b/docs/html/_sources/autoapi/shasta/base_experiment/index.rst.txt @@ -0,0 +1,78 @@ +:py:mod:`shasta.base_experiment` +================================ + +.. py:module:: shasta.base_experiment + + +Module Contents +--------------- + +Classes +~~~~~~~ + +.. autoapisummary:: + + shasta.base_experiment.BaseExperiment + + + + +.. py:class:: BaseExperiment(config, core, experiment_config=None, *args, **kargs) + + + Bases: :py:obj:`with_metaclass`\ (\ :py:obj:`ABCMeta`\ , :py:obj:`object`\ ) + + .. py:method:: reset() + + Called at the beginning and each time the simulation is reset + + + .. py:method:: get_action_space() + :abstractmethod: + + Returns the action space + + + .. py:method:: get_observation_space() + :abstractmethod: + + Returns the observation space + + + .. py:method:: get_actions() + :abstractmethod: + + Returns the actions + + + .. py:method:: apply_actions(actions, core) + :abstractmethod: + + Given the action, applies the action to group or individual actor + + :param action: value outputted by the policy + + + .. py:method:: get_observation(observation, core) + :abstractmethod: + + Function to do all the post processing of observations (sensor data). + + :param sensor_data: dictionary {sensor_name: sensor_data} + + Should return a tuple or list with two items, the processed observations, + as well as a variable with additional information about such observation. + The information variable can be empty + + + .. py:method:: get_done_status(observation, core) + + Returns whether or not the experiment has to end + + + .. py:method:: compute_reward(observation, core) + + Computes the reward + + + diff --git a/docs/html/_sources/autoapi/shasta/core/index.rst.txt b/docs/html/_sources/autoapi/shasta/core/index.rst.txt new file mode 100644 index 0000000..de9564c --- /dev/null +++ b/docs/html/_sources/autoapi/shasta/core/index.rst.txt @@ -0,0 +1,121 @@ +:py:mod:`shasta.core` +===================== + +.. py:module:: shasta.core + + +Module Contents +--------------- + +Classes +~~~~~~~ + +.. autoapisummary:: + + shasta.core.ShastaCore + + + +Functions +~~~~~~~~~ + +.. autoapisummary:: + + shasta.core.kill_all_servers + + + +.. py:function:: kill_all_servers() + + Kill all PIDs that start with Carla + + +.. py:class:: ShastaCore(config, actor_groups: dict = None) + + + Class responsible of handling all the different CARLA functionalities, + such as server-client connecting, actor spawning, + and getting the sensors data. + + .. py:method:: _setup_physics_client() + + Setup the physics client + + :rtype: None + + + .. py:method:: get_physics_client() + + Ge the physics client + + :returns: The bullet physics client + :rtype: object + + + .. py:method:: init_server() + + Start a server on a random port + + + .. py:method:: setup_experiment(experiment_config) + + Initialize the hero and sensors + + + .. py:method:: get_world() + + Get the World object from the simulation + + :returns: The world object + :rtype: object + + + .. py:method:: get_map() + + Get the Map object from the simulation + + :returns: The map object + :rtype: object + + + .. py:method:: reset() + + This function resets / spawns the hero vehicle and its sensors + + + .. py:method:: spawn_actors() + + Spawns vehicles and walkers, also setting up the Traffic Manager and its parameters + + + .. py:method:: get_actor_groups() + + Get the actor groups + + :returns: The actor groups as a dict with group id as the key + list of actors as the value + :rtype: dict + + + .. py:method:: get_actors_by_group_id(group_id) + + Get a list of actor given by group id + + :param group_id: Group id to be returned + :type group_id: int + + :returns: A list of actor given the group id + :rtype: list + + + .. py:method:: tick() + + Performs one tick of the simulation, moving all actors, and getting the sensor data + + + .. py:method:: close_simulation() + + Close the simulation + + + diff --git a/docs/html/_sources/autoapi/shasta/index.rst.txt b/docs/html/_sources/autoapi/shasta/index.rst.txt new file mode 100644 index 0000000..6d8bcfe --- /dev/null +++ b/docs/html/_sources/autoapi/shasta/index.rst.txt @@ -0,0 +1,32 @@ +:py:mod:`shasta` +================ + +.. py:module:: shasta + + +Subpackages +----------- +.. toctree:: + :titlesonly: + :maxdepth: 3 + + preprocessing/index.rst + primitives/index.rst + + +Submodules +---------- +.. toctree:: + :titlesonly: + :maxdepth: 1 + + actor/index.rst + base_experiment/index.rst + core/index.rst + env/index.rst + map/index.rst + utils/index.rst + visualize/index.rst + world/index.rst + + diff --git a/docs/html/_sources/autoapi/shasta/map/index.rst.txt b/docs/html/_sources/autoapi/shasta/map/index.rst.txt new file mode 100644 index 0000000..e604615 --- /dev/null +++ b/docs/html/_sources/autoapi/shasta/map/index.rst.txt @@ -0,0 +1,181 @@ +:py:mod:`shasta.map` +==================== + +.. py:module:: shasta.map + + +Module Contents +--------------- + +Classes +~~~~~~~ + +.. autoapisummary:: + + shasta.map.Map + + + + +Attributes +~~~~~~~~~~ + +.. autoapisummary:: + + shasta.map.directories + shasta.map.assets_root + + +.. py:data:: directories + + + +.. py:data:: assets_root + + + +.. py:class:: Map + + + .. py:method:: _affine_transformation_and_graph() + + Performs initial conversion of the lat lon to cartesian + + + .. py:method:: _setup_building_info() + + + .. py:method:: setup(experiment_config) + + Perform the initial experiment setup e.g., loading the map + + :param experiment_config: A yaml file providing the map configuration + :type experiment_config: yaml + + :rtype: None + + :raises FileNotFoundError: If the experiment config is none, raises a file not found error + + + .. py:method:: get_affine_transformation_and_graph() + + Get the transformation matrix and the node graph of the map + + :returns: The transformation matrix and the node graph + :rtype: array, node graph + + + .. py:method:: get_node_graph() + + Get the node graph of the world + + :returns: A node graph of the world map + :rtype: networkx graph + + + .. py:method:: get_node_info(node_index) + + Get the information about a node. + + :param id: Node ID + :type id: int + + :returns: A dictionary containing all the information about the node. + :rtype: dict + + + .. py:method:: convert_to_lat_lon(point) + + Convert a given point to lat lon co-ordinates + + :param point: A numpy array in pybullet cartesian co-ordinates + :type point: array + + :returns: **lat_lon** -- The lat lon co-ordinates + :rtype: array + + + .. py:method:: convert_to_cartesian(point) + + Convert a lat lon co-ordinates to cartesian coordinates + + :param point: A numpy array in lat lon co-ordinates co-ordinates + :type point: array + + :returns: **lat_lon** -- The cartesian coordinates + :rtype: array + + + .. py:method:: get_building_info(building_index) + + Get the information about a building such as perimeter, + position, number of floors. + + :param id: Building ID + :type id: int + + :returns: A dictionary containing all the information about the building. + :rtype: dict + + + .. py:method:: get_lat_lon_spawn_points(n_points=5) + + Get the latitude and longitude spawn points + + :param n_points: Number of points to random latitude and longitude points, by default 5 + :type n_points: int, optional + + :returns: An array of cartesian spawn points + :rtype: array + + + .. py:method:: get_cartesian_node_position(node_index) + + Get the cartesian co-ordinates given the node index + + :param node_index: The node index in the map + :type node_index: int + + :returns: The cartesian co-ordinates + :rtype: array + + + .. py:method:: get_lat_lon_node_position(node_index) + + Get the lat and lon given the node index + + :param node_index: The node index in the map + :type node_index: int + + :returns: The cartesian co-ordinates + :rtype: array + + + .. py:method:: get_cartesian_spawn_points(n_points=5) + + Get the cartesian spawn points + + :param n_points: Number of points to random cartesian co-ordinates, by default 5 + :type n_points: int, optional + + :returns: An array of cartesian spawn points + :rtype: array + + + .. py:method:: get_all_buildings() + + Get all the buildings + + :returns: A dataframe with all the building information + :rtype: dataframe + + + .. py:method:: get_transformation_matrix() + + Get the transformation matrix to convert lat lon to cartesian + + :returns: The transformation matrix + :rtype: array + + + diff --git a/docs/html/_sources/autoapi/shasta/preprocessing/bake_texture/index.rst.txt b/docs/html/_sources/autoapi/shasta/preprocessing/bake_texture/index.rst.txt new file mode 100644 index 0000000..9c9e2cc --- /dev/null +++ b/docs/html/_sources/autoapi/shasta/preprocessing/bake_texture/index.rst.txt @@ -0,0 +1,54 @@ +:py:mod:`shasta.preprocessing.bake_texture` +=========================================== + +.. py:module:: shasta.preprocessing.bake_texture + + +Module Contents +--------------- + +.. py:data:: ops + + + +.. py:data:: scene + + + +.. py:data:: mesh + + + +.. py:data:: scene + + + +.. py:data:: obs + :value: [] + + + +.. py:data:: ctx + + + +.. py:data:: image + + + +.. py:data:: matslots + + + +.. py:data:: mat + + + +.. py:data:: tex + + + +.. py:data:: slot + + + diff --git a/docs/html/_sources/autoapi/shasta/preprocessing/index.rst.txt b/docs/html/_sources/autoapi/shasta/preprocessing/index.rst.txt new file mode 100644 index 0000000..280647b --- /dev/null +++ b/docs/html/_sources/autoapi/shasta/preprocessing/index.rst.txt @@ -0,0 +1,17 @@ +:py:mod:`shasta.preprocessing` +============================== + +.. py:module:: shasta.preprocessing + + +Submodules +---------- +.. toctree:: + :titlesonly: + :maxdepth: 1 + + bake_texture/index.rst + preprocess/index.rst + utils/index.rst + + diff --git a/docs/html/_sources/autoapi/shasta/preprocessing/preprocess/index.rst.txt b/docs/html/_sources/autoapi/shasta/preprocessing/preprocess/index.rst.txt new file mode 100644 index 0000000..b0535eb --- /dev/null +++ b/docs/html/_sources/autoapi/shasta/preprocessing/preprocess/index.rst.txt @@ -0,0 +1,46 @@ +:py:mod:`shasta.preprocessing.preprocess` +========================================= + +.. py:module:: shasta.preprocessing.preprocess + + +Module Contents +--------------- + +Classes +~~~~~~~ + +.. autoapisummary:: + + shasta.preprocessing.preprocess.PreProcess + + + + +Attributes +~~~~~~~~~~ + +.. autoapisummary:: + + shasta.preprocessing.preprocess.preprocess + + +.. py:class:: PreProcess(osm_map_path=None, blender_path=None) + + + .. py:method:: _save_building_info() + :abstractmethod: + + + .. py:method:: _save_graph_info() + :abstractmethod: + + + .. py:method:: run_processing() + + + +.. py:data:: preprocess + + + diff --git a/docs/html/_sources/autoapi/shasta/preprocessing/utils/index.rst.txt b/docs/html/_sources/autoapi/shasta/preprocessing/utils/index.rst.txt new file mode 100644 index 0000000..bb0fa69 --- /dev/null +++ b/docs/html/_sources/autoapi/shasta/preprocessing/utils/index.rst.txt @@ -0,0 +1,32 @@ +:py:mod:`shasta.preprocessing.utils` +==================================== + +.. py:module:: shasta.preprocessing.utils + + +Module Contents +--------------- + + +Functions +~~~~~~~~~ + +.. autoapisummary:: + + shasta.preprocessing.utils.extract_building_info + shasta.preprocessing.utils.save_buildings_map + shasta.preprocessing.utils.extract_path_info + + + +.. py:function:: extract_building_info(osm_path, save_fig=False) + + Perfrom initial building setup. + + +.. py:function:: save_buildings_map(osm_path) + + +.. py:function:: extract_path_info(osm_path) + + diff --git a/docs/html/_sources/autoapi/shasta/primitives/formation/index.rst.txt b/docs/html/_sources/autoapi/shasta/primitives/formation/index.rst.txt new file mode 100644 index 0000000..85b69ce --- /dev/null +++ b/docs/html/_sources/autoapi/shasta/primitives/formation/index.rst.txt @@ -0,0 +1,63 @@ +:py:mod:`shasta.primitives.formation` +===================================== + +.. py:module:: shasta.primitives.formation + + +Module Contents +--------------- + +Classes +~~~~~~~ + +.. autoapisummary:: + + shasta.primitives.formation.Formation + + + + +.. py:class:: Formation(config=None) + + + Bases: :py:obj:`object` + + Formation control primitive using region based shape control. + Coded by: Apurvakumar Jani, Date: 18/9/2019 + + .. py:method:: calculate_vel(vehicle, dt, all_drones_pos, centroid_pos, path_vel, vmax, formation_type) + + Calculate the vehicle velocity depending on the position of the peer vehicles + + :param vehicle: A class instance of UxV agent + :type vehicle: class instance + :param dt: Time step duration (in seconds) to use in next position calculation + :type dt: float + :param all_drones_pos: An array with position of all the vehicles in the group/platoon + :type all_drones_pos: aarray + :param centroid_pos: An array specifying the centroid of the platoon + :type centroid_pos: array + :param path_vel: Path velocity calculated from next position and current position + :type path_vel: float + :param vmax: Maximum velocity of the vehicle + :type vmax: float + :param formation_type: Whether the formation is solid or ring + :type formation_type: str + + :returns: **vehicle** -- A vehicle class instance with updated position + :rtype: class instance + + + .. py:method:: execute(vehicles, next_pos, centroid_pos, formation_type) + + Get the position of the formation control + + :param vehicles: A list containing UAV or UGV class + :type vehicles: list + :param centroid_pos: An array containing the x, y, and z position + :type centroid_pos: array + :param dt: Time step to be used for distance calculation + :type dt: float + + + diff --git a/docs/html/_sources/autoapi/shasta/primitives/index.rst.txt b/docs/html/_sources/autoapi/shasta/primitives/index.rst.txt new file mode 100644 index 0000000..30f4839 --- /dev/null +++ b/docs/html/_sources/autoapi/shasta/primitives/index.rst.txt @@ -0,0 +1,120 @@ +:py:mod:`shasta.primitives` +=========================== + +.. py:module:: shasta.primitives + + +Submodules +---------- +.. toctree:: + :titlesonly: + :maxdepth: 1 + + formation/index.rst + path_planning/index.rst + + +Package Contents +---------------- + +Classes +~~~~~~~ + +.. autoapisummary:: + + shasta.primitives.Formation + shasta.primitives.PathPlanning + + + + +.. py:class:: Formation(config=None) + + + Bases: :py:obj:`object` + + Formation control primitive using region based shape control. + Coded by: Apurvakumar Jani, Date: 18/9/2019 + + .. py:method:: calculate_vel(vehicle, dt, all_drones_pos, centroid_pos, path_vel, vmax, formation_type) + + Calculate the vehicle velocity depending on the position of the peer vehicles + + :param vehicle: A class instance of UxV agent + :type vehicle: class instance + :param dt: Time step duration (in seconds) to use in next position calculation + :type dt: float + :param all_drones_pos: An array with position of all the vehicles in the group/platoon + :type all_drones_pos: aarray + :param centroid_pos: An array specifying the centroid of the platoon + :type centroid_pos: array + :param path_vel: Path velocity calculated from next position and current position + :type path_vel: float + :param vmax: Maximum velocity of the vehicle + :type vmax: float + :param formation_type: Whether the formation is solid or ring + :type formation_type: str + + :returns: **vehicle** -- A vehicle class instance with updated position + :rtype: class instance + + + .. py:method:: execute(vehicles, next_pos, centroid_pos, formation_type) + + Get the position of the formation control + + :param vehicles: A list containing UAV or UGV class + :type vehicles: list + :param centroid_pos: An array containing the x, y, and z position + :type centroid_pos: array + :param dt: Time step to be used for distance calculation + :type dt: float + + + +.. py:class:: PathPlanning(env_map) + + + Bases: :py:obj:`object` + + Path planner based on the skeleton of the image. + Generates a spline path + + .. py:method:: linear_refine_implicit(x, n) + + Given a 2D ndarray (npt, m) of npt coordinates in m dimension, + insert 2**(n-1) additional points on each trajectory segment + Returns an (npt*2**(n-1), m) ndarray + + :param x: A 2D input array + :type x: array + :param n: Number of intermediate points to insert between two consecutive points in x + :type n: int + + :returns: An array with interploated points + :rtype: array + + :raises NotImplementedError: The functions is not implemented for 3D or higher dimensions + :raises ValueError: Number of intermediate points should be greated than zero + + + .. py:method:: find_path(start, end, n_splits=1) + + Finds a path between start and end using path graph + + :param start: A cartesian co-ordinate specifying the start position + :type start: array + :param end: A node ID specifying the end position + :type end: array + :param n_splits: Number of splits in refining the path points, by default 1 + :type n_splits: int, optional + + :returns: **path_points** -- A refined path points in pybullet cartesian co-ordinate system + :rtype: array + + + .. py:method:: execute() + :abstractmethod: + + + diff --git a/docs/html/_sources/autoapi/shasta/primitives/path_planning/index.rst.txt b/docs/html/_sources/autoapi/shasta/primitives/path_planning/index.rst.txt new file mode 100644 index 0000000..0e45522 --- /dev/null +++ b/docs/html/_sources/autoapi/shasta/primitives/path_planning/index.rst.txt @@ -0,0 +1,65 @@ +:py:mod:`shasta.primitives.path_planning` +========================================= + +.. py:module:: shasta.primitives.path_planning + + +Module Contents +--------------- + +Classes +~~~~~~~ + +.. autoapisummary:: + + shasta.primitives.path_planning.PathPlanning + + + + +.. py:class:: PathPlanning(env_map) + + + Bases: :py:obj:`object` + + Path planner based on the skeleton of the image. + Generates a spline path + + .. py:method:: linear_refine_implicit(x, n) + + Given a 2D ndarray (npt, m) of npt coordinates in m dimension, + insert 2**(n-1) additional points on each trajectory segment + Returns an (npt*2**(n-1), m) ndarray + + :param x: A 2D input array + :type x: array + :param n: Number of intermediate points to insert between two consecutive points in x + :type n: int + + :returns: An array with interploated points + :rtype: array + + :raises NotImplementedError: The functions is not implemented for 3D or higher dimensions + :raises ValueError: Number of intermediate points should be greated than zero + + + .. py:method:: find_path(start, end, n_splits=1) + + Finds a path between start and end using path graph + + :param start: A cartesian co-ordinate specifying the start position + :type start: array + :param end: A node ID specifying the end position + :type end: array + :param n_splits: Number of splits in refining the path points, by default 1 + :type n_splits: int, optional + + :returns: **path_points** -- A refined path points in pybullet cartesian co-ordinate system + :rtype: array + + + .. py:method:: execute() + :abstractmethod: + + + diff --git a/docs/html/_sources/autoapi/shasta/utils/index.rst.txt b/docs/html/_sources/autoapi/shasta/utils/index.rst.txt new file mode 100644 index 0000000..39c6c49 --- /dev/null +++ b/docs/html/_sources/autoapi/shasta/utils/index.rst.txt @@ -0,0 +1,34 @@ +:py:mod:`shasta.utils` +====================== + +.. py:module:: shasta.utils + + +Module Contents +--------------- + + +Functions +~~~~~~~~~ + +.. autoapisummary:: + + shasta.utils.get_initial_positions + + + +.. py:function:: get_initial_positions(cartesian_pos, r, n) + + Initial position for actor in the form of a ring + + :param cartesian_pos: Initial cartesian pos + :type cartesian_pos: array + :param r: Radius of formation + :type r: float + :param n: Number of points in the circle + :type n: int + + :returns: An array of points in the form of a ring + :rtype: array + + diff --git a/docs/html/_sources/autoapi/shasta/visualize/index.rst.txt b/docs/html/_sources/autoapi/shasta/visualize/index.rst.txt new file mode 100644 index 0000000..ae7a0bb --- /dev/null +++ b/docs/html/_sources/autoapi/shasta/visualize/index.rst.txt @@ -0,0 +1,27 @@ +:py:mod:`shasta.visualize` +========================== + +.. py:module:: shasta.visualize + + +Module Contents +--------------- + + +Functions +~~~~~~~~~ + +.. autoapisummary:: + + shasta.visualize.plot_nodes + + + +.. py:function:: plot_nodes(config) + + Visualize the node graph + + :param config: a yaml file providing the configuration + :type config: yaml + + diff --git a/docs/html/_sources/autoapi/shasta/world/index.rst.txt b/docs/html/_sources/autoapi/shasta/world/index.rst.txt new file mode 100644 index 0000000..0104b6d --- /dev/null +++ b/docs/html/_sources/autoapi/shasta/world/index.rst.txt @@ -0,0 +1,59 @@ +:py:mod:`shasta.world` +====================== + +.. py:module:: shasta.world + + +Module Contents +--------------- + +Classes +~~~~~~~ + +.. autoapisummary:: + + shasta.world.World + + + + +.. py:class:: World(config) + + + .. py:method:: load_world_model(read_path) + + Load the URDF model + + :param read_path: The path to the URDF model + :type read_path: str + + + .. py:method:: change_camera_position(camera_distance=150.0, camera_yaw=0.0, camera_pitch=-89.999, camera_target_position=[0, 30, 0]) + + Change the world camera position + + :param camera_distance: Camera distance from target, by default 150 + :type camera_distance: float, optional + :param camera_yaw: Camera yaw, by default 0 + :type camera_yaw: float, optional + :param camera_pitch: Camera pitch, by default -89.999 + :type camera_pitch: float, optional + :param camera_target_position: Camera target position, by default [0, 30, 0] + :type camera_target_position: list, optional + + :rtype: None + + + .. py:method:: spawn_actor(actor, spawn_point) + + Spawn the actor at a given point + + :param actor: An actor to spawm + :type actor: object + :param spawn_point: Spawn point + :type spawn_point: array + + :rtype: None + + + diff --git a/docs/html/_sources/code_of_conduct.rst.txt b/docs/html/_sources/code_of_conduct.rst.txt new file mode 100644 index 0000000..63606e6 --- /dev/null +++ b/docs/html/_sources/code_of_conduct.rst.txt @@ -0,0 +1,4 @@ +Code of Conduct +=============== +.. include:: ../CODE_OF_CONDUCT.md + :parser: myst_parser.sphinx_ diff --git a/docs/html/_sources/contributing.rst.txt b/docs/html/_sources/contributing.rst.txt index e582053..66c365e 100644 --- a/docs/html/_sources/contributing.rst.txt +++ b/docs/html/_sources/contributing.rst.txt @@ -1 +1,4 @@ -.. include:: ../CONTRIBUTING.rst +Contributing +=========== +.. include:: ../CONTRIBUTING.md + :parser: myst_parser.sphinx_ diff --git a/docs/html/_sources/index.rst.txt b/docs/html/_sources/index.rst.txt index 3cf3bb5..ba4a499 100644 --- a/docs/html/_sources/index.rst.txt +++ b/docs/html/_sources/index.rst.txt @@ -7,8 +7,8 @@ Welcome to shasta's documentation! readme installation - usage contributing + code_of_conduct history Indices and tables diff --git a/docs/html/_sources/installation.rst.txt b/docs/html/_sources/installation.rst.txt index 729dd20..edbe5a3 100644 --- a/docs/html/_sources/installation.rst.txt +++ b/docs/html/_sources/installation.rst.txt @@ -34,18 +34,9 @@ You can either clone the public repository: $ git clone git://github.com/hemumanju/shasta -Or download the `tarball`_: - -.. code-block:: console - - $ curl -OJL https://github.com/hemumanju/shasta/tarball/master - -Once you have a copy of the source, you can install it with: - .. code-block:: console $ python setup.py install .. _Github repo: https://github.com/hemumanju/shasta -.. _tarball: https://github.com/hemumanju/shasta/tarball/master diff --git a/docs/html/_sources/readme.rst.txt b/docs/html/_sources/readme.rst.txt index 72a3355..95cacbc 100644 --- a/docs/html/_sources/readme.rst.txt +++ b/docs/html/_sources/readme.rst.txt @@ -1 +1,4 @@ -.. include:: ../README.rst +Welcome +=========== +.. include:: ../README.md + :parser: myst_parser.sphinx_ diff --git a/docs/html/_static/basic.css b/docs/html/_static/basic.css index 24a49f0..7577acb 100644 --- a/docs/html/_static/basic.css +++ b/docs/html/_static/basic.css @@ -4,7 +4,7 @@ * * Sphinx stylesheet -- basic theme. * - * :copyright: Copyright 2007-2020 by the Sphinx team, see AUTHORS. + * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS. * :license: BSD, see LICENSE for details. * */ @@ -130,7 +130,7 @@ ul.search li a { font-weight: bold; } -ul.search li div.context { +ul.search li p.context { color: #888; margin: 2px 0 0 30px; text-align: left; @@ -222,7 +222,7 @@ table.modindextable td { /* -- general body styles --------------------------------------------------- */ div.body { - min-width: 450px; + min-width: 360px; max-width: 800px; } @@ -237,16 +237,6 @@ a.headerlink { visibility: hidden; } -a.brackets:before, -span.brackets > a:before{ - content: "["; -} - -a.brackets:after, -span.brackets > a:after { - content: "]"; -} - h1:hover > a.headerlink, h2:hover > a.headerlink, h3:hover > a.headerlink, @@ -277,25 +267,25 @@ p.rubric { font-weight: bold; } -img.align-left, .figure.align-left, object.align-left { +img.align-left, figure.align-left, .figure.align-left, object.align-left { clear: left; float: left; margin-right: 1em; } -img.align-right, .figure.align-right, object.align-right { +img.align-right, figure.align-right, .figure.align-right, object.align-right { clear: right; float: right; margin-left: 1em; } -img.align-center, .figure.align-center, object.align-center { +img.align-center, figure.align-center, .figure.align-center, object.align-center { display: block; margin-left: auto; margin-right: auto; } -img.align-default, .figure.align-default { +img.align-default, figure.align-default, .figure.align-default { display: block; margin-left: auto; margin-right: auto; @@ -319,7 +309,8 @@ img.align-default, .figure.align-default { /* -- sidebars -------------------------------------------------------------- */ -div.sidebar { +div.sidebar, +aside.sidebar { margin: 0 0 0.5em 1em; border: 1px solid #ddb; padding: 7px; @@ -334,12 +325,16 @@ p.sidebar-title { font-weight: bold; } +nav.contents, +aside.topic, div.admonition, div.topic, blockquote { clear: left; } /* -- topics ---------------------------------------------------------------- */ +nav.contents, +aside.topic, div.topic { border: 1px solid #ccc; padding: 7px; @@ -377,12 +372,18 @@ div.body p.centered { /* -- content of sidebars/topics/admonitions -------------------------------- */ div.sidebar > :last-child, +aside.sidebar > :last-child, +nav.contents > :last-child, +aside.topic > :last-child, div.topic > :last-child, div.admonition > :last-child { margin-bottom: 0; } div.sidebar::after, +aside.sidebar::after, +nav.contents::after, +aside.topic::after, div.topic::after, div.admonition::after, blockquote::after { @@ -425,10 +426,6 @@ table.docutils td, table.docutils th { border-bottom: 1px solid #aaa; } -table.footnote td, table.footnote th { - border: 0 !important; -} - th { text-align: left; padding-right: 5px; @@ -455,20 +452,22 @@ td > :last-child { /* -- figures --------------------------------------------------------------- */ -div.figure { +div.figure, figure { margin: 0.5em; padding: 0.5em; } -div.figure p.caption { +div.figure p.caption, figcaption { padding: 0.3em; } -div.figure p.caption span.caption-number { +div.figure p.caption span.caption-number, +figcaption span.caption-number { font-style: italic; } -div.figure p.caption span.caption-text { +div.figure p.caption span.caption-text, +figcaption span.caption-text { } /* -- field list styles ----------------------------------------------------- */ @@ -503,6 +502,63 @@ table.hlist td { vertical-align: top; } +/* -- object description styles --------------------------------------------- */ + +.sig { + font-family: 'Consolas', 'Menlo', 'DejaVu Sans Mono', 'Bitstream Vera Sans Mono', monospace; +} + +.sig-name, code.descname { + background-color: transparent; + font-weight: bold; +} + +.sig-name { + font-size: 1.1em; +} + +code.descname { + font-size: 1.2em; +} + +.sig-prename, code.descclassname { + background-color: transparent; +} + +.optional { + font-size: 1.3em; +} + +.sig-paren { + font-size: larger; +} + +.sig-param.n { + font-style: italic; +} + +/* C++ specific styling */ + +.sig-inline.c-texpr, +.sig-inline.cpp-texpr { + font-family: unset; +} + +.sig.c .k, .sig.c .kt, +.sig.cpp .k, .sig.cpp .kt { + color: #0033B3; +} + +.sig.c .m, +.sig.cpp .m { + color: #1750EB; +} + +.sig.c .s, .sig.c .sc, +.sig.cpp .s, .sig.cpp .sc { + color: #067D17; +} + /* -- other body styles ----------------------------------------------------- */ @@ -553,19 +609,26 @@ ul.simple p { margin-bottom: 0; } -dl.footnote > dt, -dl.citation > dt { +aside.footnote > span, +div.citation > span { float: left; - margin-right: 0.5em; } - -dl.footnote > dd, -dl.citation > dd { +aside.footnote > span:last-of-type, +div.citation > span:last-of-type { + padding-right: 0.5em; +} +aside.footnote > p { + margin-left: 2em; +} +div.citation > p { + margin-left: 4em; +} +aside.footnote > p:last-of-type, +div.citation > p:last-of-type { margin-bottom: 0em; } - -dl.footnote > dd:after, -dl.citation > dd:after { +aside.footnote > p:last-of-type:after, +div.citation > p:last-of-type:after { content: ""; clear: both; } @@ -582,10 +645,6 @@ dl.field-list > dt { padding-right: 5px; } -dl.field-list > dt:after { - content: ":"; -} - dl.field-list > dd { padding-left: 0.5em; margin-top: 0em; @@ -629,14 +688,6 @@ dl.glossary dt { font-size: 1.1em; } -.optional { - font-size: 1.3em; -} - -.sig-paren { - font-size: larger; -} - .versionmodified { font-style: italic; } @@ -677,8 +728,9 @@ dl.glossary dt { .classifier:before { font-style: normal; - margin: 0.5em; + margin: 0 0.5em; content: ":"; + display: inline-block; } abbr, acronym { @@ -702,6 +754,7 @@ span.pre { -ms-hyphens: none; -webkit-hyphens: none; hyphens: none; + white-space: nowrap; } div[class*="highlight-"] { @@ -765,8 +818,12 @@ div.code-block-caption code { table.highlighttable td.linenos, span.linenos, -div.doctest > div.highlight span.gp { /* gp: Generic.Prompt */ - user-select: none; +div.highlight span.gp { /* gp: Generic.Prompt */ + user-select: none; + -webkit-user-select: text; /* Safari fallback only */ + -webkit-user-select: none; /* Chrome/Safari */ + -moz-user-select: none; /* Firefox */ + -ms-user-select: none; /* IE10+ */ } div.code-block-caption span.caption-number { @@ -781,16 +838,6 @@ div.literal-block-wrapper { margin: 1em 0; } -code.descname { - background-color: transparent; - font-weight: bold; - font-size: 1.2em; -} - -code.descclassname { - background-color: transparent; -} - code.xref, a code { background-color: transparent; font-weight: bold; diff --git a/docs/html/_static/debug.css b/docs/html/_static/debug.css new file mode 100644 index 0000000..74d4aec --- /dev/null +++ b/docs/html/_static/debug.css @@ -0,0 +1,69 @@ +/* + This CSS file should be overridden by the theme authors. It's + meant for debugging and developing the skeleton that this theme provides. +*/ +body { + font-family: -apple-system, "Segoe UI", Roboto, Helvetica, Arial, sans-serif, + "Apple Color Emoji", "Segoe UI Emoji"; + background: lavender; +} +.sb-announcement { + background: rgb(131, 131, 131); +} +.sb-announcement__inner { + background: black; + color: white; +} +.sb-header { + background: lightskyblue; +} +.sb-header__inner { + background: royalblue; + color: white; +} +.sb-header-secondary { + background: lightcyan; +} +.sb-header-secondary__inner { + background: cornflowerblue; + color: white; +} +.sb-sidebar-primary { + background: lightgreen; +} +.sb-main { + background: blanchedalmond; +} +.sb-main__inner { + background: antiquewhite; +} +.sb-header-article { + background: lightsteelblue; +} +.sb-article-container { + background: snow; +} +.sb-article-main { + background: white; +} +.sb-footer-article { + background: lightpink; +} +.sb-sidebar-secondary { + background: lightgoldenrodyellow; +} +.sb-footer-content { + background: plum; +} +.sb-footer-content__inner { + background: palevioletred; +} +.sb-footer { + background: pink; +} +.sb-footer__inner { + background: salmon; +} +.sb-article { + background: white; +} diff --git a/docs/html/_static/doctools.js b/docs/html/_static/doctools.js index 7d88f80..d06a71d 100644 --- a/docs/html/_static/doctools.js +++ b/docs/html/_static/doctools.js @@ -2,315 +2,155 @@ * doctools.js * ~~~~~~~~~~~ * - * Sphinx JavaScript utilities for all documentation. + * Base JavaScript utilities for all Sphinx HTML documentation. * - * :copyright: Copyright 2007-2020 by the Sphinx team, see AUTHORS. + * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS. * :license: BSD, see LICENSE for details. * */ - -/** - * select a different prefix for underscore - */ -$u = _.noConflict(); - -/** - * make the code below compatible with browsers without - * an installed firebug like debugger -if (!window.console || !console.firebug) { - var names = ["log", "debug", "info", "warn", "error", "assert", "dir", - "dirxml", "group", "groupEnd", "time", "timeEnd", "count", "trace", - "profile", "profileEnd"]; - window.console = {}; - for (var i = 0; i < names.length; ++i) - window.console[names[i]] = function() {}; -} - */ - -/** - * small helper function to urldecode strings - */ -jQuery.urldecode = function(x) { - return decodeURIComponent(x).replace(/\+/g, ' '); -}; - -/** - * small helper function to urlencode strings - */ -jQuery.urlencode = encodeURIComponent; - -/** - * This function returns the parsed url parameters of the - * current request. Multiple values per key are supported, - * it will always return arrays of strings for the value parts. - */ -jQuery.getQueryParameters = function(s) { - if (typeof s === 'undefined') - s = document.location.search; - var parts = s.substr(s.indexOf('?') + 1).split('&'); - var result = {}; - for (var i = 0; i < parts.length; i++) { - var tmp = parts[i].split('=', 2); - var key = jQuery.urldecode(tmp[0]); - var value = jQuery.urldecode(tmp[1]); - if (key in result) - result[key].push(value); - else - result[key] = [value]; +"use strict"; + +const BLACKLISTED_KEY_CONTROL_ELEMENTS = new Set([ + "TEXTAREA", + "INPUT", + "SELECT", + "BUTTON", +]); + +const _ready = (callback) => { + if (document.readyState !== "loading") { + callback(); + } else { + document.addEventListener("DOMContentLoaded", callback); } - return result; }; -/** - * highlight a given string on a jquery object by wrapping it in - * span elements with the given class name. - */ -jQuery.fn.highlightText = function(text, className) { - function highlight(node, addItems) { - if (node.nodeType === 3) { - var val = node.nodeValue; - var pos = val.toLowerCase().indexOf(text); - if (pos >= 0 && - !jQuery(node.parentNode).hasClass(className) && - !jQuery(node.parentNode).hasClass("nohighlight")) { - var span; - var isInSVG = jQuery(node).closest("body, svg, foreignObject").is("svg"); - if (isInSVG) { - span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); - } else { - span = document.createElement("span"); - span.className = className; - } - span.appendChild(document.createTextNode(val.substr(pos, text.length))); - node.parentNode.insertBefore(span, node.parentNode.insertBefore( - document.createTextNode(val.substr(pos + text.length)), - node.nextSibling)); - node.nodeValue = val.substr(0, pos); - if (isInSVG) { - var rect = document.createElementNS("http://www.w3.org/2000/svg", "rect"); - var bbox = node.parentElement.getBBox(); - rect.x.baseVal.value = bbox.x; - rect.y.baseVal.value = bbox.y; - rect.width.baseVal.value = bbox.width; - rect.height.baseVal.value = bbox.height; - rect.setAttribute('class', className); - addItems.push({ - "parent": node.parentNode, - "target": rect}); - } - } - } - else if (!jQuery(node).is("button, select, textarea")) { - jQuery.each(node.childNodes, function() { - highlight(this, addItems); - }); - } - } - var addItems = []; - var result = this.each(function() { - highlight(this, addItems); - }); - for (var i = 0; i < addItems.length; ++i) { - jQuery(addItems[i].parent).before(addItems[i].target); - } - return result; -}; - -/* - * backward compatibility for jQuery.browser - * This will be supported until firefox bug is fixed. - */ -if (!jQuery.browser) { - jQuery.uaMatch = function(ua) { - ua = ua.toLowerCase(); - - var match = /(chrome)[ \/]([\w.]+)/.exec(ua) || - /(webkit)[ \/]([\w.]+)/.exec(ua) || - /(opera)(?:.*version|)[ \/]([\w.]+)/.exec(ua) || - /(msie) ([\w.]+)/.exec(ua) || - ua.indexOf("compatible") < 0 && /(mozilla)(?:.*? rv:([\w.]+)|)/.exec(ua) || - []; - - return { - browser: match[ 1 ] || "", - version: match[ 2 ] || "0" - }; - }; - jQuery.browser = {}; - jQuery.browser[jQuery.uaMatch(navigator.userAgent).browser] = true; -} - /** * Small JavaScript module for the documentation. */ -var Documentation = { - - init : function() { - this.fixFirefoxAnchorBug(); - this.highlightSearchWords(); - this.initIndexTable(); - if (DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) { - this.initOnKeyListeners(); - } +const Documentation = { + init: () => { + Documentation.initDomainIndexTable(); + Documentation.initOnKeyListeners(); }, /** * i18n support */ - TRANSLATIONS : {}, - PLURAL_EXPR : function(n) { return n === 1 ? 0 : 1; }, - LOCALE : 'unknown', + TRANSLATIONS: {}, + PLURAL_EXPR: (n) => (n === 1 ? 0 : 1), + LOCALE: "unknown", // gettext and ngettext don't access this so that the functions // can safely bound to a different name (_ = Documentation.gettext) - gettext : function(string) { - var translated = Documentation.TRANSLATIONS[string]; - if (typeof translated === 'undefined') - return string; - return (typeof translated === 'string') ? translated : translated[0]; - }, - - ngettext : function(singular, plural, n) { - var translated = Documentation.TRANSLATIONS[singular]; - if (typeof translated === 'undefined') - return (n == 1) ? singular : plural; - return translated[Documentation.PLURALEXPR(n)]; + gettext: (string) => { + const translated = Documentation.TRANSLATIONS[string]; + switch (typeof translated) { + case "undefined": + return string; // no translation + case "string": + return translated; // translation exists + default: + return translated[0]; // (singular, plural) translation tuple exists + } }, - addTranslations : function(catalog) { - for (var key in catalog.messages) - this.TRANSLATIONS[key] = catalog.messages[key]; - this.PLURAL_EXPR = new Function('n', 'return +(' + catalog.plural_expr + ')'); - this.LOCALE = catalog.locale; + ngettext: (singular, plural, n) => { + const translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated !== "undefined") + return translated[Documentation.PLURAL_EXPR(n)]; + return n === 1 ? singular : plural; }, - /** - * add context elements like header anchor links - */ - addContextElements : function() { - $('div[id] > :header:first').each(function() { - $('\u00B6'). - attr('href', '#' + this.id). - attr('title', _('Permalink to this headline')). - appendTo(this); - }); - $('dt[id]').each(function() { - $('\u00B6'). - attr('href', '#' + this.id). - attr('title', _('Permalink to this definition')). - appendTo(this); - }); + addTranslations: (catalog) => { + Object.assign(Documentation.TRANSLATIONS, catalog.messages); + Documentation.PLURAL_EXPR = new Function( + "n", + `return (${catalog.plural_expr})` + ); + Documentation.LOCALE = catalog.locale; }, /** - * workaround a firefox stupidity - * see: https://bugzilla.mozilla.org/show_bug.cgi?id=645075 + * helper function to focus on search bar */ - fixFirefoxAnchorBug : function() { - if (document.location.hash && $.browser.mozilla) - window.setTimeout(function() { - document.location.href += ''; - }, 10); + focusSearchBar: () => { + document.querySelectorAll("input[name=q]")[0]?.focus(); }, /** - * highlight the search words provided in the url in the text + * Initialise the domain index toggle buttons */ - highlightSearchWords : function() { - var params = $.getQueryParameters(); - var terms = (params.highlight) ? params.highlight[0].split(/\s+/) : []; - if (terms.length) { - var body = $('div.body'); - if (!body.length) { - body = $('body'); + initDomainIndexTable: () => { + const toggler = (el) => { + const idNumber = el.id.substr(7); + const toggledRows = document.querySelectorAll(`tr.cg-${idNumber}`); + if (el.src.substr(-9) === "minus.png") { + el.src = `${el.src.substr(0, el.src.length - 9)}plus.png`; + toggledRows.forEach((el) => (el.style.display = "none")); + } else { + el.src = `${el.src.substr(0, el.src.length - 8)}minus.png`; + toggledRows.forEach((el) => (el.style.display = "")); } - window.setTimeout(function() { - $.each(terms, function() { - body.highlightText(this.toLowerCase(), 'highlighted'); - }); - }, 10); - $('

' + _('Hide Search Matches') + '

') - .appendTo($('#searchbox')); - } - }, - - /** - * init the domain index toggle buttons - */ - initIndexTable : function() { - var togglers = $('img.toggler').click(function() { - var src = $(this).attr('src'); - var idnum = $(this).attr('id').substr(7); - $('tr.cg-' + idnum).toggle(); - if (src.substr(-9) === 'minus.png') - $(this).attr('src', src.substr(0, src.length-9) + 'plus.png'); - else - $(this).attr('src', src.substr(0, src.length-8) + 'minus.png'); - }).css('display', ''); - if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) { - togglers.click(); - } - }, - - /** - * helper function to hide the search marks again - */ - hideSearchWords : function() { - $('#searchbox .highlight-link').fadeOut(300); - $('span.highlighted').removeClass('highlighted'); - }, - - /** - * make the url absolute - */ - makeURL : function(relativeURL) { - return DOCUMENTATION_OPTIONS.URL_ROOT + '/' + relativeURL; - }, + }; - /** - * get the current relative url - */ - getCurrentURL : function() { - var path = document.location.pathname; - var parts = path.split(/\//); - $.each(DOCUMENTATION_OPTIONS.URL_ROOT.split(/\//), function() { - if (this === '..') - parts.pop(); - }); - var url = parts.join('/'); - return path.substring(url.lastIndexOf('/') + 1, path.length - 1); + const togglerElements = document.querySelectorAll("img.toggler"); + togglerElements.forEach((el) => + el.addEventListener("click", (event) => toggler(event.currentTarget)) + ); + togglerElements.forEach((el) => (el.style.display = "")); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) togglerElements.forEach(toggler); }, - initOnKeyListeners: function() { - $(document).keydown(function(event) { - var activeElementType = document.activeElement.tagName; - // don't navigate when in search box, textarea, dropdown or button - if (activeElementType !== 'TEXTAREA' && activeElementType !== 'INPUT' && activeElementType !== 'SELECT' - && activeElementType !== 'BUTTON' && !event.altKey && !event.ctrlKey && !event.metaKey - && !event.shiftKey) { - switch (event.keyCode) { - case 37: // left - var prevHref = $('link[rel="prev"]').prop('href'); - if (prevHref) { - window.location.href = prevHref; - return false; + initOnKeyListeners: () => { + // only install a listener if it is really needed + if ( + !DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS + ) + return; + + document.addEventListener("keydown", (event) => { + // bail for input elements + if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return; + // bail with special keys + if (event.altKey || event.ctrlKey || event.metaKey) return; + + if (!event.shiftKey) { + switch (event.key) { + case "ArrowLeft": + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break; + + const prevLink = document.querySelector('link[rel="prev"]'); + if (prevLink && prevLink.href) { + window.location.href = prevLink.href; + event.preventDefault(); } - case 39: // right - var nextHref = $('link[rel="next"]').prop('href'); - if (nextHref) { - window.location.href = nextHref; - return false; + break; + case "ArrowRight": + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break; + + const nextLink = document.querySelector('link[rel="next"]'); + if (nextLink && nextLink.href) { + window.location.href = nextLink.href; + event.preventDefault(); } + break; } } + + // some keyboard layouts may need Shift to get / + switch (event.key) { + case "/": + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) break; + Documentation.focusSearchBar(); + event.preventDefault(); + } }); - } + }, }; // quick alias for translations -_ = Documentation.gettext; +const _ = Documentation.gettext; -$(document).ready(function() { - Documentation.init(); -}); +_ready(Documentation.init); diff --git a/docs/html/_static/documentation_options.js b/docs/html/_static/documentation_options.js index 87d8188..e49ed18 100644 --- a/docs/html/_static/documentation_options.js +++ b/docs/html/_static/documentation_options.js @@ -1,12 +1,14 @@ var DOCUMENTATION_OPTIONS = { URL_ROOT: document.getElementById("documentation_options").getAttribute('data-url_root'), VERSION: '0.1.0', - LANGUAGE: 'None', + LANGUAGE: 'en', COLLAPSE_INDEX: false, BUILDER: 'html', FILE_SUFFIX: '.html', LINK_SUFFIX: '.html', HAS_SOURCE: true, SOURCELINK_SUFFIX: '.txt', - NAVIGATION_WITH_KEYS: false + NAVIGATION_WITH_KEYS: false, + SHOW_SEARCH_SUMMARY: true, + ENABLE_SEARCH_SHORTCUTS: true, }; \ No newline at end of file diff --git a/docs/html/_static/graphviz.css b/docs/html/_static/graphviz.css index 8ab69e0..8d81c02 100644 --- a/docs/html/_static/graphviz.css +++ b/docs/html/_static/graphviz.css @@ -4,7 +4,7 @@ * * Sphinx stylesheet -- graphviz extension. * - * :copyright: Copyright 2007-2020 by the Sphinx team, see AUTHORS. + * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS. * :license: BSD, see LICENSE for details. * */ diff --git a/docs/html/_static/language_data.js b/docs/html/_static/language_data.js index d2b4ee9..250f566 100644 --- a/docs/html/_static/language_data.js +++ b/docs/html/_static/language_data.js @@ -5,15 +5,16 @@ * This script contains the language-specific data used by searchtools.js, * namely the list of stopwords, stemmer, scorer and splitter. * - * :copyright: Copyright 2007-2020 by the Sphinx team, see AUTHORS. + * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS. * :license: BSD, see LICENSE for details. * */ -var stopwords = ["a","and","are","as","at","be","but","by","for","if","in","into","is","it","near","no","not","of","on","or","such","that","the","their","then","there","these","they","this","to","was","will","with"]; +var stopwords = ["a", "and", "are", "as", "at", "be", "but", "by", "for", "if", "in", "into", "is", "it", "near", "no", "not", "of", "on", "or", "such", "that", "the", "their", "then", "there", "these", "they", "this", "to", "was", "will", "with"]; -/* Non-minified version JS is _stemmer.js if file is provided */ +/* Non-minified version is copied as a separate JS file, is available */ + /** * Porter Stemmer */ @@ -196,102 +197,3 @@ var Stemmer = function() { } } - - - - -var splitChars = (function() { - var result = {}; - var singles = [96, 180, 187, 191, 215, 247, 749, 885, 903, 907, 909, 930, 1014, 1648, - 1748, 1809, 2416, 2473, 2481, 2526, 2601, 2609, 2612, 2615, 2653, 2702, - 2706, 2729, 2737, 2740, 2857, 2865, 2868, 2910, 2928, 2948, 2961, 2971, - 2973, 3085, 3089, 3113, 3124, 3213, 3217, 3241, 3252, 3295, 3341, 3345, - 3369, 3506, 3516, 3633, 3715, 3721, 3736, 3744, 3748, 3750, 3756, 3761, - 3781, 3912, 4239, 4347, 4681, 4695, 4697, 4745, 4785, 4799, 4801, 4823, - 4881, 5760, 5901, 5997, 6313, 7405, 8024, 8026, 8028, 8030, 8117, 8125, - 8133, 8181, 8468, 8485, 8487, 8489, 8494, 8527, 11311, 11359, 11687, 11695, - 11703, 11711, 11719, 11727, 11735, 12448, 12539, 43010, 43014, 43019, 43587, - 43696, 43713, 64286, 64297, 64311, 64317, 64319, 64322, 64325, 65141]; - var i, j, start, end; - for (i = 0; i < singles.length; i++) { - result[singles[i]] = true; - } - var ranges = [[0, 47], [58, 64], [91, 94], [123, 169], [171, 177], [182, 184], [706, 709], - [722, 735], [741, 747], [751, 879], [888, 889], [894, 901], [1154, 1161], - [1318, 1328], [1367, 1368], [1370, 1376], [1416, 1487], [1515, 1519], [1523, 1568], - [1611, 1631], [1642, 1645], [1750, 1764], [1767, 1773], [1789, 1790], [1792, 1807], - [1840, 1868], [1958, 1968], [1970, 1983], [2027, 2035], [2038, 2041], [2043, 2047], - [2070, 2073], [2075, 2083], [2085, 2087], [2089, 2307], [2362, 2364], [2366, 2383], - [2385, 2391], [2402, 2405], [2419, 2424], [2432, 2436], [2445, 2446], [2449, 2450], - [2483, 2485], [2490, 2492], [2494, 2509], [2511, 2523], [2530, 2533], [2546, 2547], - [2554, 2564], [2571, 2574], [2577, 2578], [2618, 2648], [2655, 2661], [2672, 2673], - [2677, 2692], [2746, 2748], [2750, 2767], [2769, 2783], [2786, 2789], [2800, 2820], - [2829, 2830], [2833, 2834], [2874, 2876], [2878, 2907], [2914, 2917], [2930, 2946], - [2955, 2957], [2966, 2968], [2976, 2978], [2981, 2983], [2987, 2989], [3002, 3023], - [3025, 3045], [3059, 3076], [3130, 3132], [3134, 3159], [3162, 3167], [3170, 3173], - [3184, 3191], [3199, 3204], [3258, 3260], [3262, 3293], [3298, 3301], [3312, 3332], - [3386, 3388], [3390, 3423], [3426, 3429], [3446, 3449], [3456, 3460], [3479, 3481], - [3518, 3519], [3527, 3584], [3636, 3647], [3655, 3663], [3674, 3712], [3717, 3718], - [3723, 3724], [3726, 3731], [3752, 3753], [3764, 3772], [3774, 3775], [3783, 3791], - [3802, 3803], [3806, 3839], [3841, 3871], [3892, 3903], [3949, 3975], [3980, 4095], - [4139, 4158], [4170, 4175], [4182, 4185], [4190, 4192], [4194, 4196], [4199, 4205], - [4209, 4212], [4226, 4237], [4250, 4255], [4294, 4303], [4349, 4351], [4686, 4687], - [4702, 4703], [4750, 4751], [4790, 4791], [4806, 4807], [4886, 4887], [4955, 4968], - [4989, 4991], [5008, 5023], [5109, 5120], [5741, 5742], [5787, 5791], [5867, 5869], - [5873, 5887], [5906, 5919], [5938, 5951], [5970, 5983], [6001, 6015], [6068, 6102], - [6104, 6107], [6109, 6111], [6122, 6127], [6138, 6159], [6170, 6175], [6264, 6271], - [6315, 6319], [6390, 6399], [6429, 6469], [6510, 6511], [6517, 6527], [6572, 6592], - [6600, 6607], [6619, 6655], [6679, 6687], [6741, 6783], [6794, 6799], [6810, 6822], - [6824, 6916], [6964, 6980], [6988, 6991], [7002, 7042], [7073, 7085], [7098, 7167], - [7204, 7231], [7242, 7244], [7294, 7400], [7410, 7423], [7616, 7679], [7958, 7959], - [7966, 7967], [8006, 8007], [8014, 8015], [8062, 8063], [8127, 8129], [8141, 8143], - [8148, 8149], [8156, 8159], [8173, 8177], [8189, 8303], [8306, 8307], [8314, 8318], - [8330, 8335], [8341, 8449], [8451, 8454], [8456, 8457], [8470, 8472], [8478, 8483], - [8506, 8507], [8512, 8516], [8522, 8525], [8586, 9311], [9372, 9449], [9472, 10101], - [10132, 11263], [11493, 11498], [11503, 11516], [11518, 11519], [11558, 11567], - [11622, 11630], [11632, 11647], [11671, 11679], [11743, 11822], [11824, 12292], - [12296, 12320], [12330, 12336], [12342, 12343], [12349, 12352], [12439, 12444], - [12544, 12548], [12590, 12592], [12687, 12689], [12694, 12703], [12728, 12783], - [12800, 12831], [12842, 12880], [12896, 12927], [12938, 12976], [12992, 13311], - [19894, 19967], [40908, 40959], [42125, 42191], [42238, 42239], [42509, 42511], - [42540, 42559], [42592, 42593], [42607, 42622], [42648, 42655], [42736, 42774], - [42784, 42785], [42889, 42890], [42893, 43002], [43043, 43055], [43062, 43071], - [43124, 43137], [43188, 43215], [43226, 43249], [43256, 43258], [43260, 43263], - [43302, 43311], [43335, 43359], [43389, 43395], [43443, 43470], [43482, 43519], - [43561, 43583], [43596, 43599], [43610, 43615], [43639, 43641], [43643, 43647], - [43698, 43700], [43703, 43704], [43710, 43711], [43715, 43738], [43742, 43967], - [44003, 44015], [44026, 44031], [55204, 55215], [55239, 55242], [55292, 55295], - [57344, 63743], [64046, 64047], [64110, 64111], [64218, 64255], [64263, 64274], - [64280, 64284], [64434, 64466], [64830, 64847], [64912, 64913], [64968, 65007], - [65020, 65135], [65277, 65295], [65306, 65312], [65339, 65344], [65371, 65381], - [65471, 65473], [65480, 65481], [65488, 65489], [65496, 65497]]; 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false,\n nestedClass: \"active\",\n\n // Offset & reflow\n offset: 0,\n reflow: false,\n\n // Event support\n events: true,\n };\n\n //\n // Methods\n //\n\n /**\n * Merge two or more objects together.\n * @param {Object} objects The objects to merge together\n * @returns {Object} Merged values of defaults and options\n */\n var extend = function () {\n var merged = {};\n Array.prototype.forEach.call(arguments, function (obj) {\n for (var key in obj) {\n if (!obj.hasOwnProperty(key)) return;\n merged[key] = obj[key];\n }\n });\n return merged;\n };\n\n /**\n * Emit a custom event\n * @param {String} type The event type\n * @param {Node} elem The element to attach the event to\n * @param {Object} detail Any details to pass along with the event\n */\n var emitEvent = function (type, elem, detail) {\n // Make sure events are enabled\n if (!detail.settings.events) return;\n\n // Create a new event\n var event = new CustomEvent(type, {\n bubbles: true,\n cancelable: true,\n detail: detail,\n });\n\n // Dispatch the event\n elem.dispatchEvent(event);\n };\n\n /**\n * Get an element's distance from the top of the Document.\n * @param {Node} elem The element\n * @return {Number} Distance from the top in pixels\n */\n var getOffsetTop = function (elem) {\n var location = 0;\n if (elem.offsetParent) {\n while (elem) {\n location += elem.offsetTop;\n elem = elem.offsetParent;\n }\n }\n return location >= 0 ? location : 0;\n };\n\n /**\n * Sort content from first to last in the DOM\n * @param {Array} contents The content areas\n */\n var sortContents = function (contents) {\n if (contents) {\n contents.sort(function (item1, item2) {\n var offset1 = getOffsetTop(item1.content);\n var offset2 = getOffsetTop(item2.content);\n if (offset1 < offset2) return -1;\n return 1;\n });\n }\n };\n\n /**\n * Get the offset to use for calculating position\n * @param {Object} settings The settings for this instantiation\n * @return {Float} The number of pixels to offset the 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settings);\n };\n\n /**\n * Deactivate a nav and content area\n * @param {Object} items The nav item and content to deactivate\n * @param {Object} settings The settings for this instantiation\n */\n var deactivate = function (items, settings) {\n // Make sure there are items to deactivate\n if (!items) return;\n\n // Get the parent list item\n var li = items.nav.closest(\"li\");\n if (!li) return;\n\n // Remove the active class from the nav and content\n li.classList.remove(settings.navClass);\n items.content.classList.remove(settings.contentClass);\n\n // Deactivate any parent navs in a nested navigation\n deactivateNested(li, settings);\n\n // Emit a custom event\n emitEvent(\"gumshoeDeactivate\", li, {\n link: items.nav,\n content: items.content,\n settings: settings,\n });\n };\n\n /**\n * Activate parent navs in a nested navigation\n * @param {Node} nav The starting navigation element\n * @param {Object} settings The settings for this instantiation\n */\n var activateNested = function (nav, settings) {\n // If nesting isn't activated, bail\n if (!settings.nested) return;\n\n // Get the parent navigation\n var li = nav.parentNode.closest(\"li\");\n if (!li) return;\n\n // Add the active class\n li.classList.add(settings.nestedClass);\n\n // Apply recursively to any parent navigation elements\n activateNested(li, settings);\n };\n\n /**\n * Activate a nav and content area\n * @param {Object} items The nav item and content to activate\n * @param {Object} settings The settings for this instantiation\n */\n var activate = function (items, settings) {\n // Make sure there are items to activate\n if (!items) return;\n\n // Get the parent list item\n var li = items.nav.closest(\"li\");\n if (!li) return;\n\n // Add the active class to the nav and content\n li.classList.add(settings.navClass);\n items.content.classList.add(settings.contentClass);\n\n // Activate any parent navs in a nested navigation\n activateNested(li, settings);\n\n // Emit a custom event\n emitEvent(\"gumshoeActivate\", li, {\n link: items.nav,\n content: items.content,\n settings: settings,\n });\n };\n\n /**\n * Create the Constructor object\n * @param {String} selector The selector to use for navigation items\n * @param {Object} options User options and settings\n */\n var Constructor = function (selector, options) {\n //\n // Variables\n //\n\n var publicAPIs = {};\n var navItems, contents, current, timeout, settings;\n\n //\n // Methods\n //\n\n /**\n * Set variables from DOM elements\n */\n publicAPIs.setup = function () {\n // Get all nav items\n navItems = document.querySelectorAll(selector);\n\n // Create contents array\n contents = [];\n\n // Loop through each item, get it's matching content, and push to the array\n Array.prototype.forEach.call(navItems, function (item) {\n // Get the content for the nav item\n var content = document.getElementById(\n decodeURIComponent(item.hash.substr(1)),\n );\n if (!content) return;\n\n // Push to the contents array\n 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window.cancelAnimationFrame(timeout);\n }\n\n // Setup debounce callback\n timeout = window.requestAnimationFrame(publicAPIs.detect);\n };\n\n /**\n * Update content sorting on resize\n * Debounced for performance\n */\n var resizeHandler = function (event) {\n // If there's a timer, cancel it\n if (timeout) {\n window.cancelAnimationFrame(timeout);\n }\n\n // Setup debounce callback\n timeout = window.requestAnimationFrame(function () {\n sortContents(contents);\n publicAPIs.detect();\n });\n };\n\n /**\n * Destroy the current instantiation\n */\n publicAPIs.destroy = function () {\n // Undo DOM changes\n if (current) {\n deactivate(current, settings);\n }\n\n // Remove event listeners\n window.removeEventListener(\"scroll\", scrollHandler, false);\n if (settings.reflow) {\n window.removeEventListener(\"resize\", resizeHandler, false);\n }\n\n // Reset variables\n contents = null;\n navItems = null;\n current = null;\n timeout = null;\n settings = null;\n };\n\n /**\n * Initialize the 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__webpack_module_cache__[moduleId] = {\n\t\t// no module.id needed\n\t\t// no module.loaded needed\n\t\texports: {}\n\t};\n\n\t// Execute the module function\n\t__webpack_modules__[moduleId].call(module.exports, module, module.exports, __webpack_require__);\n\n\t// Return the exports of the module\n\treturn module.exports;\n}\n\n","// getDefaultExport function for compatibility with non-harmony modules\n__webpack_require__.n = (module) => {\n\tvar getter = module && module.__esModule ?\n\t\t() => (module['default']) :\n\t\t() => (module);\n\t__webpack_require__.d(getter, { a: getter });\n\treturn getter;\n};","// define getter functions for harmony exports\n__webpack_require__.d = (exports, definition) => {\n\tfor(var key in definition) {\n\t\tif(__webpack_require__.o(definition, key) && !__webpack_require__.o(exports, key)) {\n\t\t\tObject.defineProperty(exports, key, { enumerable: true, get: definition[key] });\n\t\t}\n\t}\n};","__webpack_require__.g = (function() {\n\tif (typeof globalThis === 'object') return globalThis;\n\ttry {\n\t\treturn this || new Function('return this')();\n\t} catch (e) {\n\t\tif (typeof window === 'object') return window;\n\t}\n})();","__webpack_require__.o = (obj, prop) => (Object.prototype.hasOwnProperty.call(obj, prop))","import Gumshoe from \"./gumshoe-patched.js\";\n\n////////////////////////////////////////////////////////////////////////////////\n// Scroll Handling\n////////////////////////////////////////////////////////////////////////////////\nvar tocScroll = null;\nvar header = null;\nvar lastScrollTop = window.pageYOffset || document.documentElement.scrollTop;\nconst GO_TO_TOP_OFFSET = 64;\n\nfunction scrollHandlerForHeader() {\n if (Math.floor(header.getBoundingClientRect().top) == 0) {\n header.classList.add(\"scrolled\");\n } else {\n header.classList.remove(\"scrolled\");\n }\n}\n\nfunction scrollHandlerForBackToTop(positionY) {\n if (positionY < GO_TO_TOP_OFFSET) {\n document.documentElement.classList.remove(\"show-back-to-top\");\n } else {\n if (positionY < lastScrollTop) {\n document.documentElement.classList.add(\"show-back-to-top\");\n } else if (positionY > lastScrollTop) {\n document.documentElement.classList.remove(\"show-back-to-top\");\n }\n }\n lastScrollTop = positionY;\n}\n\nfunction scrollHandlerForTOC(positionY) {\n if (tocScroll === null) {\n return;\n }\n\n // top of page.\n if (positionY == 0) {\n tocScroll.scrollTo(0, 0);\n } else if (\n // bottom of page.\n Math.ceil(positionY) >=\n Math.floor(document.documentElement.scrollHeight - window.innerHeight)\n ) {\n tocScroll.scrollTo(0, tocScroll.scrollHeight);\n } else {\n // somewhere in the middle.\n const current = document.querySelector(\".scroll-current\");\n if (current == null) {\n return;\n }\n\n // https://github.com/pypa/pip/issues/9159 This breaks scroll behaviours.\n // // scroll the currently \"active\" heading in toc, into view.\n // const rect = current.getBoundingClientRect();\n // if (0 > rect.top) {\n // current.scrollIntoView(true); // the argument is \"alignTop\"\n // } else if (rect.bottom > window.innerHeight) {\n // current.scrollIntoView(false);\n // }\n }\n}\n\nfunction scrollHandler(positionY) {\n scrollHandlerForHeader();\n scrollHandlerForBackToTop(positionY);\n scrollHandlerForTOC(positionY);\n}\n\n////////////////////////////////////////////////////////////////////////////////\n// Theme Toggle\n////////////////////////////////////////////////////////////////////////////////\nfunction setTheme(mode) {\n if (mode !== \"light\" && mode !== \"dark\" && mode !== \"auto\") {\n console.error(`Got invalid theme mode: ${mode}. Resetting to auto.`);\n mode = \"auto\";\n }\n\n document.body.dataset.theme = mode;\n localStorage.setItem(\"theme\", mode);\n console.log(`Changed to ${mode} mode.`);\n}\n\nfunction cycleThemeOnce() {\n const currentTheme = localStorage.getItem(\"theme\") || \"auto\";\n const prefersDark = window.matchMedia(\"(prefers-color-scheme: dark)\").matches;\n\n if (prefersDark) {\n // Auto (dark) -> Light -> Dark\n if (currentTheme === \"auto\") {\n setTheme(\"light\");\n } else if (currentTheme == \"light\") {\n setTheme(\"dark\");\n } else {\n setTheme(\"auto\");\n }\n } else {\n // Auto (light) -> Dark -> Light\n if (currentTheme === \"auto\") {\n setTheme(\"dark\");\n } else if (currentTheme == \"dark\") {\n setTheme(\"light\");\n } else {\n setTheme(\"auto\");\n }\n }\n}\n\n////////////////////////////////////////////////////////////////////////////////\n// Setup\n////////////////////////////////////////////////////////////////////////////////\nfunction setupScrollHandler() {\n // Taken from https://developer.mozilla.org/en-US/docs/Web/API/Document/scroll_event\n let last_known_scroll_position = 0;\n let ticking = false;\n\n window.addEventListener(\"scroll\", function (e) {\n last_known_scroll_position = window.scrollY;\n\n if (!ticking) {\n window.requestAnimationFrame(function () {\n scrollHandler(last_known_scroll_position);\n ticking = false;\n });\n\n ticking = true;\n }\n });\n window.scroll();\n}\n\nfunction setupScrollSpy() {\n if (tocScroll === null) {\n return;\n }\n\n // Scrollspy -- highlight table on contents, based on scroll\n new Gumshoe(\".toc-tree a\", {\n reflow: true,\n recursive: true,\n navClass: \"scroll-current\",\n offset: () => {\n let rem = parseFloat(getComputedStyle(document.documentElement).fontSize);\n return header.getBoundingClientRect().height + 0.5 * rem + 1;\n },\n });\n}\n\nfunction setupTheme() {\n // Attach event handlers for toggling themes\n const buttons = document.getElementsByClassName(\"theme-toggle\");\n Array.from(buttons).forEach((btn) => {\n btn.addEventListener(\"click\", cycleThemeOnce);\n });\n}\n\nfunction setup() {\n setupTheme();\n setupScrollHandler();\n setupScrollSpy();\n}\n\n////////////////////////////////////////////////////////////////////////////////\n// Main entrypoint\n////////////////////////////////////////////////////////////////////////////////\nfunction main() {\n document.body.parentNode.classList.remove(\"no-js\");\n\n header = document.querySelector(\"header\");\n tocScroll = document.querySelector(\".toc-scroll\");\n\n setup();\n}\n\ndocument.addEventListener(\"DOMContentLoaded\", main);\n"],"names":["root","g","window","this","defaults","navClass","contentClass","nested","nestedClass","offset","reflow","events","emitEvent","type","elem","detail","settings","event","CustomEvent","bubbles","cancelable","dispatchEvent","getOffsetTop","location","offsetParent","offsetTop","sortContents","contents","sort","item1","item2","content","isInView","bottom","bounds","getBoundingClientRect","parseFloat","getOffset","parseInt","innerHeight","document","documentElement","clientHeight","top","isAtBottom","Math","ceil","pageYOffset","max","body","scrollHeight","offsetHeight","getActive","last","length","item","useLastItem","i","deactivateNested","nav","parentNode","li","closest","classList","remove","deactivate","items","link","activateNested","add","selector","options","navItems","current","timeout","publicAPIs","querySelectorAll","Array","prototype","forEach","call","getElementById","decodeURIComponent","hash","substr","push","active","activate","scrollHandler","cancelAnimationFrame","requestAnimationFrame","detect","resizeHandler","destroy","removeEventListener","merged","arguments","obj","key","hasOwnProperty","extend","setup","addEventListener","factory","__webpack_module_cache__","__webpack_require__","moduleId","cachedModule","undefined","exports","module","__webpack_modules__","n","getter","__esModule","d","a","definition","o","Object","defineProperty","enumerable","get","globalThis","Function","e","prop","tocScroll","header","lastScrollTop","scrollTop","cycleThemeOnce","currentTheme","localStorage","getItem","mode","matchMedia","matches","console","error","dataset","theme","setItem","log","buttons","getElementsByClassName","from","btn","setupTheme","last_known_scroll_position","ticking","scrollY","positionY","floor","scrollHandlerForBackToTop","scrollTo","querySelector","scrollHandlerForTOC","scroll","setupScrollHandler","recursive","rem","getComputedStyle","fontSize","height"],"sourceRoot":""} \ No newline at end of file diff --git a/docs/html/_static/searchtools.js b/docs/html/_static/searchtools.js index 261ecaa..97d56a7 100644 --- a/docs/html/_static/searchtools.js +++ b/docs/html/_static/searchtools.js @@ -4,22 +4,24 @@ * * Sphinx JavaScript utilities for the full-text search. * - * :copyright: Copyright 2007-2020 by the Sphinx team, see AUTHORS. + * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS. * :license: BSD, see LICENSE for details. * */ +"use strict"; -if (!Scorer) { - /** - * Simple result scoring code. - */ +/** + * Simple result scoring code. + */ +if (typeof Scorer === "undefined") { var Scorer = { // Implement the following function to further tweak the score for each result - // The function takes a result array [filename, title, anchor, descr, score] + // The function takes a result array [docname, title, anchor, descr, score, filename] // and returns the new score. /* - score: function(result) { - return result[4]; + score: result => { + const [docname, title, anchor, descr, score, filename] = result + return score }, */ @@ -28,9 +30,11 @@ if (!Scorer) { // or matches in the last dotted part of the object name objPartialMatch: 6, // Additive scores depending on the priority of the object - objPrio: {0: 15, // used to be importantResults - 1: 5, // used to be objectResults - 2: -5}, // used to be unimportantResults + objPrio: { + 0: 15, // used to be importantResults + 1: 5, // used to be objectResults + 2: -5, // used to be unimportantResults + }, // Used when the priority is not in the mapping. objPrioDefault: 0, @@ -39,444 +43,495 @@ if (!Scorer) { partialTitle: 7, // query found in terms term: 5, - partialTerm: 2 + partialTerm: 2, }; } -if (!splitQuery) { - function splitQuery(query) { - return query.split(/\s+/); +const _removeChildren = (element) => { + while (element && element.lastChild) element.removeChild(element.lastChild); +}; + +/** + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Guide/Regular_Expressions#escaping + */ +const _escapeRegExp = (string) => + string.replace(/[.*+\-?^${}()|[\]\\]/g, "\\$&"); // $& means the whole matched string + +const _displayItem = (item, searchTerms) => { + const docBuilder = DOCUMENTATION_OPTIONS.BUILDER; + const docUrlRoot = DOCUMENTATION_OPTIONS.URL_ROOT; + const docFileSuffix = DOCUMENTATION_OPTIONS.FILE_SUFFIX; + const docLinkSuffix = DOCUMENTATION_OPTIONS.LINK_SUFFIX; + const showSearchSummary = DOCUMENTATION_OPTIONS.SHOW_SEARCH_SUMMARY; + + const [docName, title, anchor, descr, score, _filename] = item; + + let listItem = document.createElement("li"); + let requestUrl; + let linkUrl; + if (docBuilder === "dirhtml") { + // dirhtml builder + let dirname = docName + "/"; + if (dirname.match(/\/index\/$/)) + dirname = dirname.substring(0, dirname.length - 6); + else if (dirname === "index/") dirname = ""; + requestUrl = docUrlRoot + dirname; + linkUrl = requestUrl; + } else { + // normal html builders + requestUrl = docUrlRoot + docName + docFileSuffix; + linkUrl = docName + docLinkSuffix; + } + let linkEl = listItem.appendChild(document.createElement("a")); + linkEl.href = linkUrl + anchor; + linkEl.dataset.score = score; + linkEl.innerHTML = title; + if (descr) + listItem.appendChild(document.createElement("span")).innerHTML = + " (" + descr + ")"; + else if (showSearchSummary) + fetch(requestUrl) + .then((responseData) => responseData.text()) + .then((data) => { + if (data) + listItem.appendChild( + Search.makeSearchSummary(data, searchTerms) + ); + }); + Search.output.appendChild(listItem); +}; +const _finishSearch = (resultCount) => { + Search.stopPulse(); + Search.title.innerText = _("Search Results"); + if (!resultCount) + Search.status.innerText = Documentation.gettext( + "Your search did not match any documents. Please make sure that all words are spelled correctly and that you've selected enough categories." + ); + else + Search.status.innerText = _( + `Search finished, found ${resultCount} page(s) matching the search query.` + ); +}; +const _displayNextItem = ( + results, + resultCount, + searchTerms +) => { + // results left, load the summary and display it + // this is intended to be dynamic (don't sub resultsCount) + if (results.length) { + _displayItem(results.pop(), searchTerms); + setTimeout( + () => _displayNextItem(results, resultCount, searchTerms), + 5 + ); } + // search finished, update title and status message + else _finishSearch(resultCount); +}; + +/** + * Default splitQuery function. Can be overridden in ``sphinx.search`` with a + * custom function per language. + * + * The regular expression works by splitting the string on consecutive characters + * that are not Unicode letters, numbers, underscores, or emoji characters. + * This is the same as ``\W+`` in Python, preserving the surrogate pair area. + */ +if (typeof splitQuery === "undefined") { + var splitQuery = (query) => query + .split(/[^\p{Letter}\p{Number}_\p{Emoji_Presentation}]+/gu) + .filter(term => term) // remove remaining empty strings } /** * Search Module */ -var Search = { - - _index : null, - _queued_query : null, - _pulse_status : -1, - - htmlToText : function(htmlString) { - var virtualDocument = document.implementation.createHTMLDocument('virtual'); - var htmlElement = $(htmlString, virtualDocument); - htmlElement.find('.headerlink').remove(); - docContent = htmlElement.find('[role=main]')[0]; - if(docContent === undefined) { - console.warn("Content block not found. Sphinx search tries to obtain it " + - "via '[role=main]'. Could you check your theme or template."); - return ""; - } - return docContent.textContent || docContent.innerText; +const Search = { + _index: null, + _queued_query: null, + _pulse_status: -1, + + htmlToText: (htmlString) => { + const htmlElement = new DOMParser().parseFromString(htmlString, 'text/html'); + htmlElement.querySelectorAll(".headerlink").forEach((el) => { el.remove() }); + const docContent = htmlElement.querySelector('[role="main"]'); + if (docContent !== undefined) return docContent.textContent; + console.warn( + "Content block not found. Sphinx search tries to obtain it via '[role=main]'. Could you check your theme or template." + ); + return ""; }, - init : function() { - var params = $.getQueryParameters(); - if (params.q) { - var query = params.q[0]; - $('input[name="q"]')[0].value = query; - this.performSearch(query); - } + init: () => { + const query = new URLSearchParams(window.location.search).get("q"); + document + .querySelectorAll('input[name="q"]') + .forEach((el) => (el.value = query)); + if (query) Search.performSearch(query); }, - loadIndex : function(url) { - $.ajax({type: "GET", url: url, data: null, - dataType: "script", cache: true, - complete: function(jqxhr, textstatus) { - if (textstatus != "success") { - document.getElementById("searchindexloader").src = url; - } - }}); - }, + loadIndex: (url) => + (document.body.appendChild(document.createElement("script")).src = url), - setIndex : function(index) { - var q; - this._index = index; - if ((q = this._queued_query) !== null) { - this._queued_query = null; - Search.query(q); + setIndex: (index) => { + Search._index = index; + if (Search._queued_query !== null) { + const query = Search._queued_query; + Search._queued_query = null; + Search.query(query); } }, - hasIndex : function() { - return this._index !== null; - }, + hasIndex: () => Search._index !== null, - deferQuery : function(query) { - this._queued_query = query; - }, + deferQuery: (query) => (Search._queued_query = query), - stopPulse : function() { - this._pulse_status = 0; - }, + stopPulse: () => (Search._pulse_status = -1), - startPulse : function() { - if (this._pulse_status >= 0) - return; - function pulse() { - var i; + startPulse: () => { + if (Search._pulse_status >= 0) return; + + const pulse = () => { Search._pulse_status = (Search._pulse_status + 1) % 4; - var dotString = ''; - for (i = 0; i < Search._pulse_status; i++) - dotString += '.'; - Search.dots.text(dotString); - if (Search._pulse_status > -1) - window.setTimeout(pulse, 500); - } + Search.dots.innerText = ".".repeat(Search._pulse_status); + if (Search._pulse_status >= 0) window.setTimeout(pulse, 500); + }; pulse(); }, /** * perform a search for something (or wait until index is loaded) */ - performSearch : function(query) { + performSearch: (query) => { // create the required interface elements - this.out = $('#search-results'); - this.title = $('

' + _('Searching') + '

').appendTo(this.out); - this.dots = $('').appendTo(this.title); - this.status = $('

 

').appendTo(this.out); - this.output = $('
    ').appendTo(this.out); - - $('#search-progress').text(_('Preparing search...')); - this.startPulse(); + const searchText = document.createElement("h2"); + searchText.textContent = _("Searching"); + const searchSummary = document.createElement("p"); + searchSummary.classList.add("search-summary"); + searchSummary.innerText = ""; + const searchList = document.createElement("ul"); + searchList.classList.add("search"); + + const out = document.getElementById("search-results"); + Search.title = out.appendChild(searchText); + Search.dots = Search.title.appendChild(document.createElement("span")); + Search.status = out.appendChild(searchSummary); + Search.output = out.appendChild(searchList); + + const searchProgress = document.getElementById("search-progress"); + // Some themes don't use the search progress node + if (searchProgress) { + searchProgress.innerText = _("Preparing search..."); + } + Search.startPulse(); // index already loaded, the browser was quick! - if (this.hasIndex()) - this.query(query); - else - this.deferQuery(query); + if (Search.hasIndex()) Search.query(query); + else Search.deferQuery(query); }, /** * execute search (requires search index to be loaded) */ - query : function(query) { - var i; - - // stem the searchterms and add them to the correct list - var stemmer = new Stemmer(); - var searchterms = []; - var excluded = []; - var hlterms = []; - var tmp = splitQuery(query); - var objectterms = []; - for (i = 0; i < tmp.length; i++) { - if (tmp[i] !== "") { - objectterms.push(tmp[i].toLowerCase()); - } + query: (query) => { + const filenames = Search._index.filenames; + const docNames = Search._index.docnames; + const titles = Search._index.titles; + const allTitles = Search._index.alltitles; + const indexEntries = Search._index.indexentries; + + // stem the search terms and add them to the correct list + const stemmer = new Stemmer(); + const searchTerms = new Set(); + const excludedTerms = new Set(); + const highlightTerms = new Set(); + const objectTerms = new Set(splitQuery(query.toLowerCase().trim())); + splitQuery(query.trim()).forEach((queryTerm) => { + const queryTermLower = queryTerm.toLowerCase(); + + // maybe skip this "word" + // stopwords array is from language_data.js + if ( + stopwords.indexOf(queryTermLower) !== -1 || + queryTerm.match(/^\d+$/) + ) + return; - if ($u.indexOf(stopwords, tmp[i].toLowerCase()) != -1 || tmp[i] === "") { - // skip this "word" - continue; - } // stem the word - var word = stemmer.stemWord(tmp[i].toLowerCase()); - // prevent stemmer from cutting word smaller than two chars - if(word.length < 3 && tmp[i].length >= 3) { - word = tmp[i]; - } - var toAppend; + let word = stemmer.stemWord(queryTermLower); // select the correct list - if (word[0] == '-') { - toAppend = excluded; - word = word.substr(1); - } + if (word[0] === "-") excludedTerms.add(word.substr(1)); else { - toAppend = searchterms; - hlterms.push(tmp[i].toLowerCase()); + searchTerms.add(word); + highlightTerms.add(queryTermLower); } - // only add if not already in the list - if (!$u.contains(toAppend, word)) - toAppend.push(word); - } - var highlightstring = '?highlight=' + $.urlencode(hlterms.join(" ")); + }); - // console.debug('SEARCH: searching for:'); - // console.info('required: ', searchterms); - // console.info('excluded: ', excluded); + if (SPHINX_HIGHLIGHT_ENABLED) { // set in sphinx_highlight.js + localStorage.setItem("sphinx_highlight_terms", [...highlightTerms].join(" ")) + } - // prepare search - var terms = this._index.terms; - var titleterms = this._index.titleterms; + // console.debug("SEARCH: searching for:"); + // console.info("required: ", [...searchTerms]); + // console.info("excluded: ", [...excludedTerms]); + + // array of [docname, title, anchor, descr, score, filename] + let results = []; + _removeChildren(document.getElementById("search-progress")); + + const queryLower = query.toLowerCase(); + for (const [title, foundTitles] of Object.entries(allTitles)) { + if (title.toLowerCase().includes(queryLower) && (queryLower.length >= title.length/2)) { + for (const [file, id] of foundTitles) { + let score = Math.round(100 * queryLower.length / title.length) + results.push([ + docNames[file], + titles[file] !== title ? `${titles[file]} > ${title}` : title, + id !== null ? "#" + id : "", + null, + score, + filenames[file], + ]); + } + } + } - // array of [filename, title, anchor, descr, score] - var results = []; - $('#search-progress').empty(); + // search for explicit entries in index directives + for (const [entry, foundEntries] of Object.entries(indexEntries)) { + if (entry.includes(queryLower) && (queryLower.length >= entry.length/2)) { + for (const [file, id] of foundEntries) { + let score = Math.round(100 * queryLower.length / entry.length) + results.push([ + docNames[file], + titles[file], + id ? "#" + id : "", + null, + score, + filenames[file], + ]); + } + } + } // lookup as object - for (i = 0; i < objectterms.length; i++) { - var others = [].concat(objectterms.slice(0, i), - objectterms.slice(i+1, objectterms.length)); - results = results.concat(this.performObjectSearch(objectterms[i], others)); - } + objectTerms.forEach((term) => + results.push(...Search.performObjectSearch(term, objectTerms)) + ); // lookup as search terms in fulltext - results = results.concat(this.performTermsSearch(searchterms, excluded, terms, titleterms)); + results.push(...Search.performTermsSearch(searchTerms, excludedTerms)); // let the scorer override scores with a custom scoring function - if (Scorer.score) { - for (i = 0; i < results.length; i++) - results[i][4] = Scorer.score(results[i]); - } + if (Scorer.score) results.forEach((item) => (item[4] = Scorer.score(item))); // now sort the results by score (in opposite order of appearance, since the // display function below uses pop() to retrieve items) and then // alphabetically - results.sort(function(a, b) { - var left = a[4]; - var right = b[4]; - if (left > right) { - return 1; - } else if (left < right) { - return -1; - } else { + results.sort((a, b) => { + const leftScore = a[4]; + const rightScore = b[4]; + if (leftScore === rightScore) { // same score: sort alphabetically - left = a[1].toLowerCase(); - right = b[1].toLowerCase(); - return (left > right) ? -1 : ((left < right) ? 1 : 0); + const leftTitle = a[1].toLowerCase(); + const rightTitle = b[1].toLowerCase(); + if (leftTitle === rightTitle) return 0; + return leftTitle > rightTitle ? -1 : 1; // inverted is intentional } + return leftScore > rightScore ? 1 : -1; }); + // remove duplicate search results + // note the reversing of results, so that in the case of duplicates, the highest-scoring entry is kept + let seen = new Set(); + results = results.reverse().reduce((acc, result) => { + let resultStr = result.slice(0, 4).concat([result[5]]).map(v => String(v)).join(','); + if (!seen.has(resultStr)) { + acc.push(result); + seen.add(resultStr); + } + return acc; + }, []); + + results = results.reverse(); + // for debugging //Search.lastresults = results.slice(); // a copy - //console.info('search results:', Search.lastresults); + // console.info("search results:", Search.lastresults); // print the results - var resultCount = results.length; - function displayNextItem() { - // results left, load the summary and display it - if (results.length) { - var item = results.pop(); - var listItem = $('
  • '); - var requestUrl = ""; - var linkUrl = ""; - if (DOCUMENTATION_OPTIONS.BUILDER === 'dirhtml') { - // dirhtml builder - var dirname = item[0] + '/'; - if (dirname.match(/\/index\/$/)) { - dirname = dirname.substring(0, dirname.length-6); - } else if (dirname == 'index/') { - dirname = ''; - } - requestUrl = DOCUMENTATION_OPTIONS.URL_ROOT + dirname; - linkUrl = requestUrl; - - } else { - // normal html builders - requestUrl = DOCUMENTATION_OPTIONS.URL_ROOT + item[0] + DOCUMENTATION_OPTIONS.FILE_SUFFIX; - linkUrl = item[0] + DOCUMENTATION_OPTIONS.LINK_SUFFIX; - } - listItem.append($('').attr('href', - linkUrl + - highlightstring + item[2]).html(item[1])); - if (item[3]) { - listItem.append($(' (' + item[3] + ')')); - Search.output.append(listItem); - listItem.slideDown(5, function() { - displayNextItem(); - }); - } else if (DOCUMENTATION_OPTIONS.HAS_SOURCE) { - $.ajax({url: requestUrl, - dataType: "text", - complete: function(jqxhr, textstatus) { - var data = jqxhr.responseText; - if (data !== '' && data !== undefined) { - listItem.append(Search.makeSearchSummary(data, searchterms, hlterms)); - } - Search.output.append(listItem); - listItem.slideDown(5, function() { - displayNextItem(); - }); - }}); - } else { - // no source available, just display title - Search.output.append(listItem); - listItem.slideDown(5, function() { - displayNextItem(); - }); - } - } - // search finished, update title and status message - else { - Search.stopPulse(); - Search.title.text(_('Search Results')); - if (!resultCount) - Search.status.text(_('Your search did not match any documents. Please make sure that all words are spelled correctly and that you\'ve selected enough categories.')); - else - Search.status.text(_('Search finished, found %s page(s) matching the search query.').replace('%s', resultCount)); - Search.status.fadeIn(500); - } - } - displayNextItem(); + _displayNextItem(results, results.length, searchTerms); }, /** * search for object names */ - performObjectSearch : function(object, otherterms) { - var filenames = this._index.filenames; - var docnames = this._index.docnames; - var objects = this._index.objects; - var objnames = this._index.objnames; - var titles = this._index.titles; - - var i; - var results = []; - - for (var prefix in objects) { - for (var name in objects[prefix]) { - var fullname = (prefix ? prefix + '.' : '') + name; - var fullnameLower = fullname.toLowerCase() - if (fullnameLower.indexOf(object) > -1) { - var score = 0; - var parts = fullnameLower.split('.'); - // check for different match types: exact matches of full name or - // "last name" (i.e. last dotted part) - if (fullnameLower == object || parts[parts.length - 1] == object) { - score += Scorer.objNameMatch; - // matches in last name - } else if (parts[parts.length - 1].indexOf(object) > -1) { - score += Scorer.objPartialMatch; - } - var match = objects[prefix][name]; - var objname = objnames[match[1]][2]; - var title = titles[match[0]]; - // If more than one term searched for, we require other words to be - // found in the name/title/description - if (otherterms.length > 0) { - var haystack = (prefix + ' ' + name + ' ' + - objname + ' ' + title).toLowerCase(); - var allfound = true; - for (i = 0; i < otherterms.length; i++) { - if (haystack.indexOf(otherterms[i]) == -1) { - allfound = false; - break; - } - } - if (!allfound) { - continue; - } - } - var descr = objname + _(', in ') + title; - - var anchor = match[3]; - if (anchor === '') - anchor = fullname; - else if (anchor == '-') - anchor = objnames[match[1]][1] + '-' + fullname; - // add custom score for some objects according to scorer - if (Scorer.objPrio.hasOwnProperty(match[2])) { - score += Scorer.objPrio[match[2]]; - } else { - score += Scorer.objPrioDefault; - } - results.push([docnames[match[0]], fullname, '#'+anchor, descr, score, filenames[match[0]]]); - } + performObjectSearch: (object, objectTerms) => { + const filenames = Search._index.filenames; + const docNames = Search._index.docnames; + const objects = Search._index.objects; + const objNames = Search._index.objnames; + const titles = Search._index.titles; + + const results = []; + + const objectSearchCallback = (prefix, match) => { + const name = match[4] + const fullname = (prefix ? prefix + "." : "") + name; + const fullnameLower = fullname.toLowerCase(); + if (fullnameLower.indexOf(object) < 0) return; + + let score = 0; + const parts = fullnameLower.split("."); + + // check for different match types: exact matches of full name or + // "last name" (i.e. last dotted part) + if (fullnameLower === object || parts.slice(-1)[0] === object) + score += Scorer.objNameMatch; + else if (parts.slice(-1)[0].indexOf(object) > -1) + score += Scorer.objPartialMatch; // matches in last name + + const objName = objNames[match[1]][2]; + const title = titles[match[0]]; + + // If more than one term searched for, we require other words to be + // found in the name/title/description + const otherTerms = new Set(objectTerms); + otherTerms.delete(object); + if (otherTerms.size > 0) { + const haystack = `${prefix} ${name} ${objName} ${title}`.toLowerCase(); + if ( + [...otherTerms].some((otherTerm) => haystack.indexOf(otherTerm) < 0) + ) + return; } - } + let anchor = match[3]; + if (anchor === "") anchor = fullname; + else if (anchor === "-") anchor = objNames[match[1]][1] + "-" + fullname; + + const descr = objName + _(", in ") + title; + + // add custom score for some objects according to scorer + if (Scorer.objPrio.hasOwnProperty(match[2])) + score += Scorer.objPrio[match[2]]; + else score += Scorer.objPrioDefault; + + results.push([ + docNames[match[0]], + fullname, + "#" + anchor, + descr, + score, + filenames[match[0]], + ]); + }; + Object.keys(objects).forEach((prefix) => + objects[prefix].forEach((array) => + objectSearchCallback(prefix, array) + ) + ); return results; }, /** * search for full-text terms in the index */ - performTermsSearch : function(searchterms, excluded, terms, titleterms) { - var docnames = this._index.docnames; - var filenames = this._index.filenames; - var titles = this._index.titles; + performTermsSearch: (searchTerms, excludedTerms) => { + // prepare search + const terms = Search._index.terms; + const titleTerms = Search._index.titleterms; + const filenames = Search._index.filenames; + const docNames = Search._index.docnames; + const titles = Search._index.titles; - var i, j, file; - var fileMap = {}; - var scoreMap = {}; - var results = []; + const scoreMap = new Map(); + const fileMap = new Map(); // perform the search on the required terms - for (i = 0; i < searchterms.length; i++) { - var word = searchterms[i]; - var files = []; - var _o = [ - {files: terms[word], score: Scorer.term}, - {files: titleterms[word], score: Scorer.title} + searchTerms.forEach((word) => { + const files = []; + const arr = [ + { files: terms[word], score: Scorer.term }, + { files: titleTerms[word], score: Scorer.title }, ]; // add support for partial matches if (word.length > 2) { - for (var w in terms) { - if (w.match(word) && !terms[word]) { - _o.push({files: terms[w], score: Scorer.partialTerm}) - } - } - for (var w in titleterms) { - if (w.match(word) && !titleterms[word]) { - _o.push({files: titleterms[w], score: Scorer.partialTitle}) - } - } + const escapedWord = _escapeRegExp(word); + Object.keys(terms).forEach((term) => { + if (term.match(escapedWord) && !terms[word]) + arr.push({ files: terms[term], score: Scorer.partialTerm }); + }); + Object.keys(titleTerms).forEach((term) => { + if (term.match(escapedWord) && !titleTerms[word]) + arr.push({ files: titleTerms[word], score: Scorer.partialTitle }); + }); } // no match but word was a required one - if ($u.every(_o, function(o){return o.files === undefined;})) { - break; - } + if (arr.every((record) => record.files === undefined)) return; + // found search word in contents - $u.each(_o, function(o) { - var _files = o.files; - if (_files === undefined) - return - - if (_files.length === undefined) - _files = [_files]; - files = files.concat(_files); - - // set score for the word in each file to Scorer.term - for (j = 0; j < _files.length; j++) { - file = _files[j]; - if (!(file in scoreMap)) - scoreMap[file] = {}; - scoreMap[file][word] = o.score; - } + arr.forEach((record) => { + if (record.files === undefined) return; + + let recordFiles = record.files; + if (recordFiles.length === undefined) recordFiles = [recordFiles]; + files.push(...recordFiles); + + // set score for the word in each file + recordFiles.forEach((file) => { + if (!scoreMap.has(file)) scoreMap.set(file, {}); + scoreMap.get(file)[word] = record.score; + }); }); // create the mapping - for (j = 0; j < files.length; j++) { - file = files[j]; - if (file in fileMap && fileMap[file].indexOf(word) === -1) - fileMap[file].push(word); - else - fileMap[file] = [word]; - } - } + files.forEach((file) => { + if (fileMap.has(file) && fileMap.get(file).indexOf(word) === -1) + fileMap.get(file).push(word); + else fileMap.set(file, [word]); + }); + }); // now check if the files don't contain excluded terms - for (file in fileMap) { - var valid = true; - + const results = []; + for (const [file, wordList] of fileMap) { // check if all requirements are matched - var filteredTermCount = // as search terms with length < 3 are discarded: ignore - searchterms.filter(function(term){return term.length > 2}).length + + // as search terms with length < 3 are discarded + const filteredTermCount = [...searchTerms].filter( + (term) => term.length > 2 + ).length; if ( - fileMap[file].length != searchterms.length && - fileMap[file].length != filteredTermCount - ) continue; + wordList.length !== searchTerms.size && + wordList.length !== filteredTermCount + ) + continue; // ensure that none of the excluded terms is in the search result - for (i = 0; i < excluded.length; i++) { - if (terms[excluded[i]] == file || - titleterms[excluded[i]] == file || - $u.contains(terms[excluded[i]] || [], file) || - $u.contains(titleterms[excluded[i]] || [], file)) { - valid = false; - break; - } - } + if ( + [...excludedTerms].some( + (term) => + terms[term] === file || + titleTerms[term] === file || + (terms[term] || []).includes(file) || + (titleTerms[term] || []).includes(file) + ) + ) + break; - // if we have still a valid result we can add it to the result list - if (valid) { - // select one (max) score for the file. - // for better ranking, we should calculate ranking by using words statistics like basic tf-idf... - var score = $u.max($u.map(fileMap[file], function(w){return scoreMap[file][w]})); - results.push([docnames[file], titles[file], '', null, score, filenames[file]]); - } + // select one (max) score for the file. + const score = Math.max(...wordList.map((w) => scoreMap.get(file)[w])); + // add result to the result list + results.push([ + docNames[file], + titles[file], + "", + null, + score, + filenames[file], + ]); } return results; }, @@ -484,31 +539,28 @@ var Search = { /** * helper function to return a node containing the * search summary for a given text. keywords is a list - * of stemmed words, hlwords is the list of normal, unstemmed - * words. the first one is used to find the occurrence, the - * latter for highlighting it. + * of stemmed words. */ - makeSearchSummary : function(htmlText, keywords, hlwords) { - var text = Search.htmlToText(htmlText); - var textLower = text.toLowerCase(); - var start = 0; - $.each(keywords, function() { - var i = textLower.indexOf(this.toLowerCase()); - if (i > -1) - start = i; - }); - start = Math.max(start - 120, 0); - var excerpt = ((start > 0) ? '...' : '') + - $.trim(text.substr(start, 240)) + - ((start + 240 - text.length) ? '...' : ''); - var rv = $('
    ').text(excerpt); - $.each(hlwords, function() { - rv = rv.highlightText(this, 'highlighted'); - }); - return rv; - } + makeSearchSummary: (htmlText, keywords) => { + const text = Search.htmlToText(htmlText); + if (text === "") return null; + + const textLower = text.toLowerCase(); + const actualStartPosition = [...keywords] + .map((k) => textLower.indexOf(k.toLowerCase())) + .filter((i) => i > -1) + .slice(-1)[0]; + const startWithContext = Math.max(actualStartPosition - 120, 0); + + const top = startWithContext === 0 ? "" : "..."; + const tail = startWithContext + 240 < text.length ? "..." : ""; + + let summary = document.createElement("p"); + summary.classList.add("context"); + summary.textContent = top + text.substr(startWithContext, 240).trim() + tail; + + return summary; + }, }; -$(document).ready(function() { - Search.init(); -}); +_ready(Search.init); diff --git a/docs/html/_static/skeleton.css b/docs/html/_static/skeleton.css new file mode 100644 index 0000000..467c878 --- /dev/null +++ b/docs/html/_static/skeleton.css @@ -0,0 +1,296 @@ +/* Some sane resets. */ +html { + height: 100%; +} + +body { + margin: 0; + min-height: 100%; +} + +/* All the flexbox magic! */ +body, +.sb-announcement, +.sb-content, +.sb-main, +.sb-container, +.sb-container__inner, +.sb-article-container, +.sb-footer-content, +.sb-header, +.sb-header-secondary, +.sb-footer { + display: flex; +} + +/* These order things vertically */ +body, +.sb-main, +.sb-article-container { + flex-direction: column; +} + +/* Put elements in the center */ +.sb-header, +.sb-header-secondary, +.sb-container, +.sb-content, +.sb-footer, +.sb-footer-content { + justify-content: center; +} +/* Put elements at the ends */ +.sb-article-container { + justify-content: space-between; +} + +/* These elements grow. */ +.sb-main, +.sb-content, +.sb-container, +article { + flex-grow: 1; +} + +/* Because padding making this wider is not fun */ +article { + box-sizing: border-box; +} + +/* The announcements element should never be wider than the page. */ +.sb-announcement { + max-width: 100%; +} + +.sb-sidebar-primary, +.sb-sidebar-secondary { + flex-shrink: 0; + width: 17rem; +} + +.sb-announcement__inner { + justify-content: center; + + box-sizing: border-box; + height: 3rem; + + overflow-x: auto; + white-space: nowrap; +} + +/* Sidebars, with checkbox-based toggle */ +.sb-sidebar-primary, +.sb-sidebar-secondary { + position: fixed; + height: 100%; + top: 0; +} + +.sb-sidebar-primary { + left: -17rem; + transition: left 250ms ease-in-out; +} +.sb-sidebar-secondary { + right: -17rem; + transition: right 250ms ease-in-out; +} + +.sb-sidebar-toggle { + display: none; +} +.sb-sidebar-overlay { + position: fixed; + top: 0; + width: 0; + height: 0; + + transition: width 0ms ease 250ms, height 0ms ease 250ms, opacity 250ms ease; + + opacity: 0; + background-color: rgba(0, 0, 0, 0.54); +} + +#sb-sidebar-toggle--primary:checked + ~ .sb-sidebar-overlay[for="sb-sidebar-toggle--primary"], +#sb-sidebar-toggle--secondary:checked + ~ .sb-sidebar-overlay[for="sb-sidebar-toggle--secondary"] { + width: 100%; + height: 100%; + opacity: 1; + transition: width 0ms ease, height 0ms ease, opacity 250ms ease; +} + +#sb-sidebar-toggle--primary:checked ~ .sb-container .sb-sidebar-primary { + left: 0; +} +#sb-sidebar-toggle--secondary:checked ~ .sb-container .sb-sidebar-secondary { + right: 0; +} + +/* Full-width mode */ +.drop-secondary-sidebar-for-full-width-content + .hide-when-secondary-sidebar-shown { + display: none !important; +} +.drop-secondary-sidebar-for-full-width-content .sb-sidebar-secondary { + display: none !important; +} + +/* Mobile views */ +.sb-page-width { + width: 100%; +} + +.sb-article-container, +.sb-footer-content__inner, +.drop-secondary-sidebar-for-full-width-content .sb-article, +.drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 100vw; +} + +.sb-article, +.match-content-width { + padding: 0 1rem; + box-sizing: border-box; +} + +@media (min-width: 32rem) { + .sb-article, + .match-content-width { + padding: 0 2rem; + } +} + +/* Tablet views */ +@media (min-width: 42rem) { + .sb-article-container { + width: auto; + } + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 42rem; + } + .sb-article, + .match-content-width { + width: 42rem; + } +} +@media (min-width: 46rem) { + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 46rem; + } + .sb-article, + .match-content-width { + width: 46rem; + } +} +@media (min-width: 50rem) { + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 50rem; + } + .sb-article, + .match-content-width { + width: 50rem; + } +} + +/* Tablet views */ +@media (min-width: 59rem) { + .sb-sidebar-secondary { + position: static; + } + .hide-when-secondary-sidebar-shown { + display: none !important; + } + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 59rem; + } + .sb-article, + .match-content-width { + width: 42rem; + } +} +@media (min-width: 63rem) { + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 63rem; + } + .sb-article, + .match-content-width { + width: 46rem; + } +} +@media (min-width: 67rem) { + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 67rem; + } + .sb-article, + .match-content-width { + width: 50rem; + } +} + +/* Desktop views */ +@media (min-width: 76rem) { + .sb-sidebar-primary { + position: static; + } + .hide-when-primary-sidebar-shown { + display: none !important; + } + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 59rem; + } + .sb-article, + .match-content-width { + width: 42rem; + } +} + +/* Full desktop views */ +@media (min-width: 80rem) { + .sb-article, + .match-content-width { + width: 46rem; + } + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 63rem; + } +} + +@media (min-width: 84rem) { + .sb-article, + .match-content-width { + width: 50rem; + } + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 67rem; + } +} + +@media (min-width: 88rem) { + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 67rem; + } + .sb-page-width { + width: 88rem; + } +} diff --git a/docs/html/_static/sphinx_highlight.js b/docs/html/_static/sphinx_highlight.js new file mode 100644 index 0000000..aae669d --- /dev/null +++ b/docs/html/_static/sphinx_highlight.js @@ -0,0 +1,144 @@ +/* Highlighting utilities for Sphinx HTML documentation. */ +"use strict"; + +const SPHINX_HIGHLIGHT_ENABLED = true + +/** + * highlight a given string on a node by wrapping it in + * span elements with the given class name. + */ +const _highlight = (node, addItems, text, className) => { + if (node.nodeType === Node.TEXT_NODE) { + const val = node.nodeValue; + const parent = node.parentNode; + const pos = val.toLowerCase().indexOf(text); + if ( + pos >= 0 && + !parent.classList.contains(className) && + !parent.classList.contains("nohighlight") + ) { + let span; + + const closestNode = parent.closest("body, svg, foreignObject"); + const isInSVG = closestNode && closestNode.matches("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.classList.add(className); + } + + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + parent.insertBefore( + span, + parent.insertBefore( + document.createTextNode(val.substr(pos + text.length)), + node.nextSibling + ) + ); + node.nodeValue = val.substr(0, pos); + + if (isInSVG) { + const rect = document.createElementNS( + "http://www.w3.org/2000/svg", + "rect" + ); + const bbox = parent.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute("class", className); + addItems.push({ parent: parent, target: rect }); + } + } + } else if (node.matches && !node.matches("button, select, textarea")) { + node.childNodes.forEach((el) => _highlight(el, addItems, text, className)); + } +}; +const _highlightText = (thisNode, text, className) => { + let addItems = []; + _highlight(thisNode, addItems, text, className); + addItems.forEach((obj) => + obj.parent.insertAdjacentElement("beforebegin", obj.target) + ); +}; + +/** + * Small JavaScript module for the documentation. + */ +const SphinxHighlight = { + + /** + * highlight the search words provided in localstorage in the text + */ + highlightSearchWords: () => { + if (!SPHINX_HIGHLIGHT_ENABLED) return; // bail if no highlight + + // get and clear terms from localstorage + const url = new URL(window.location); + const highlight = + localStorage.getItem("sphinx_highlight_terms") + || url.searchParams.get("highlight") + || ""; + localStorage.removeItem("sphinx_highlight_terms") + url.searchParams.delete("highlight"); + window.history.replaceState({}, "", url); + + // get individual terms from highlight string + const terms = highlight.toLowerCase().split(/\s+/).filter(x => x); + if (terms.length === 0) return; // nothing to do + + // There should never be more than one element matching "div.body" + const divBody = document.querySelectorAll("div.body"); + const body = divBody.length ? divBody[0] : document.querySelector("body"); + window.setTimeout(() => { + terms.forEach((term) => _highlightText(body, term, "highlighted")); + }, 10); + + const searchBox = document.getElementById("searchbox"); + if (searchBox === null) return; + searchBox.appendChild( + document + .createRange() + .createContextualFragment( + '

    ' + + '' + + _("Hide Search Matches") + + "

    " + ) + ); + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords: () => { + document + .querySelectorAll("#searchbox .highlight-link") + .forEach((el) => el.remove()); + document + .querySelectorAll("span.highlighted") + .forEach((el) => el.classList.remove("highlighted")); + localStorage.removeItem("sphinx_highlight_terms") + }, + + initEscapeListener: () => { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) return; + + document.addEventListener("keydown", (event) => { + // bail for input elements + if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return; + // bail with special keys + if (event.shiftKey || event.altKey || event.ctrlKey || event.metaKey) return; + if (DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS && (event.key === "Escape")) { + SphinxHighlight.hideSearchWords(); + event.preventDefault(); + } + }); + }, +}; + 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Correct the line height in all browsers.\n * 2. Prevent adjustments of font size after orientation changes in iOS.\n */\n\nhtml {\n line-height: 1.15; /* 1 */\n -webkit-text-size-adjust: 100%; /* 2 */\n}\n\n/* Sections\n ========================================================================== */\n\n/**\n * Remove the margin in all browsers.\n */\n\nbody {\n margin: 0;\n}\n\n/**\n * Render the `main` element consistently in IE.\n */\n\nmain {\n display: block;\n}\n\n/**\n * Correct the font size and margin on `h1` elements within `section` and\n * `article` contexts in Chrome, Firefox, and Safari.\n */\n\nh1 {\n font-size: 2em;\n margin: 0.67em 0;\n}\n\n/* Grouping content\n ========================================================================== */\n\n/**\n * 1. Add the correct box sizing in Firefox.\n * 2. Show the overflow in Edge and IE.\n */\n\nhr {\n box-sizing: content-box; /* 1 */\n height: 0; /* 1 */\n overflow: visible; /* 2 */\n}\n\n/**\n * 1. Correct the inheritance and scaling of font size in all browsers.\n * 2. Correct the odd `em` font sizing in all browsers.\n */\n\npre {\n font-family: monospace, monospace; /* 1 */\n font-size: 1em; /* 2 */\n}\n\n/* Text-level semantics\n ========================================================================== */\n\n/**\n * Remove the gray background on active links in IE 10.\n */\n\na {\n background-color: transparent;\n}\n\n/**\n * 1. Remove the bottom border in Chrome 57-\n * 2. Add the correct text decoration in Chrome, Edge, IE, Opera, and Safari.\n */\n\nabbr[title] {\n border-bottom: none; /* 1 */\n text-decoration: underline; /* 2 */\n text-decoration: underline dotted; /* 2 */\n}\n\n/**\n * Add the correct font weight in Chrome, Edge, and Safari.\n */\n\nb,\nstrong {\n font-weight: bolder;\n}\n\n/**\n * 1. Correct the inheritance and scaling of font size in all browsers.\n * 2. Correct the odd `em` font sizing in all browsers.\n */\n\ncode,\nkbd,\nsamp {\n font-family: monospace, monospace; /* 1 */\n font-size: 1em; /* 2 */\n}\n\n/**\n * Add the correct font size in all browsers.\n */\n\nsmall {\n font-size: 80%;\n}\n\n/**\n * Prevent `sub` and `sup` elements from affecting the line height in\n * all browsers.\n */\n\nsub,\nsup {\n font-size: 75%;\n line-height: 0;\n position: relative;\n vertical-align: baseline;\n}\n\nsub {\n bottom: -0.25em;\n}\n\nsup {\n top: -0.5em;\n}\n\n/* Embedded content\n ========================================================================== */\n\n/**\n * Remove the border on images inside links in IE 10.\n */\n\nimg {\n border-style: none;\n}\n\n/* Forms\n ========================================================================== */\n\n/**\n * 1. Change the font styles in all browsers.\n * 2. Remove the margin in Firefox and Safari.\n */\n\nbutton,\ninput,\noptgroup,\nselect,\ntextarea {\n font-family: inherit; /* 1 */\n font-size: 100%; /* 1 */\n line-height: 1.15; /* 1 */\n margin: 0; /* 2 */\n}\n\n/**\n * Show the overflow in IE.\n * 1. Show the overflow in Edge.\n */\n\nbutton,\ninput { /* 1 */\n overflow: visible;\n}\n\n/**\n * Remove the inheritance of text transform in Edge, Firefox, and IE.\n * 1. Remove the inheritance of text transform in Firefox.\n */\n\nbutton,\nselect { /* 1 */\n text-transform: none;\n}\n\n/**\n * Correct the inability to style clickable types in iOS and Safari.\n */\n\nbutton,\n[type=\"button\"],\n[type=\"reset\"],\n[type=\"submit\"] {\n -webkit-appearance: button;\n}\n\n/**\n * Remove the inner border and padding in Firefox.\n */\n\nbutton::-moz-focus-inner,\n[type=\"button\"]::-moz-focus-inner,\n[type=\"reset\"]::-moz-focus-inner,\n[type=\"submit\"]::-moz-focus-inner {\n border-style: none;\n padding: 0;\n}\n\n/**\n * Restore the focus styles unset by the previous rule.\n */\n\nbutton:-moz-focusring,\n[type=\"button\"]:-moz-focusring,\n[type=\"reset\"]:-moz-focusring,\n[type=\"submit\"]:-moz-focusring {\n outline: 1px dotted ButtonText;\n}\n\n/**\n * Correct the padding in Firefox.\n */\n\nfieldset {\n padding: 0.35em 0.75em 0.625em;\n}\n\n/**\n * 1. Correct the text wrapping in Edge and IE.\n * 2. Correct the color inheritance from `fieldset` elements in IE.\n * 3. Remove the padding so developers are not caught out when they zero out\n * `fieldset` elements in all browsers.\n */\n\nlegend {\n box-sizing: border-box; /* 1 */\n color: inherit; /* 2 */\n display: table; /* 1 */\n max-width: 100%; /* 1 */\n padding: 0; /* 3 */\n white-space: normal; /* 1 */\n}\n\n/**\n * Add the correct vertical alignment in Chrome, Firefox, and Opera.\n */\n\nprogress {\n vertical-align: baseline;\n}\n\n/**\n * Remove the default vertical scrollbar in IE 10+.\n */\n\ntextarea {\n overflow: auto;\n}\n\n/**\n * 1. Add the correct box sizing in IE 10.\n * 2. Remove the padding in IE 10.\n */\n\n[type=\"checkbox\"],\n[type=\"radio\"] {\n box-sizing: border-box; /* 1 */\n padding: 0; /* 2 */\n}\n\n/**\n * Correct the cursor style of increment and decrement buttons in Chrome.\n */\n\n[type=\"number\"]::-webkit-inner-spin-button,\n[type=\"number\"]::-webkit-outer-spin-button {\n height: auto;\n}\n\n/**\n * 1. Correct the odd appearance in Chrome and Safari.\n * 2. Correct the outline style in Safari.\n */\n\n[type=\"search\"] {\n -webkit-appearance: textfield; /* 1 */\n outline-offset: -2px; /* 2 */\n}\n\n/**\n * Remove the inner padding in Chrome and Safari on macOS.\n */\n\n[type=\"search\"]::-webkit-search-decoration {\n -webkit-appearance: none;\n}\n\n/**\n * 1. Correct the inability to style clickable types in iOS and Safari.\n * 2. Change font properties to `inherit` in Safari.\n */\n\n::-webkit-file-upload-button {\n -webkit-appearance: button; /* 1 */\n font: inherit; /* 2 */\n}\n\n/* Interactive\n ========================================================================== */\n\n/*\n * Add the correct display in Edge, IE 10+, and Firefox.\n */\n\ndetails {\n display: block;\n}\n\n/*\n * Add the correct display in all browsers.\n */\n\nsummary {\n display: list-item;\n}\n\n/* Misc\n ========================================================================== */\n\n/**\n * Add the correct display in IE 10+.\n */\n\ntemplate {\n display: none;\n}\n\n/**\n * Add the correct display in IE 10.\n */\n\n[hidden] {\n display: none;\n}\n","// This file contains styles for managing print media.\n\n////////////////////////////////////////////////////////////////////////////////\n// Hide elements not relevant to print media.\n////////////////////////////////////////////////////////////////////////////////\n@media print\n // Hide icon container.\n .content-icon-container\n display: none !important\n\n // Hide showing header links if hovering over when printing.\n .headerlink\n display: none !important\n\n // Hide mobile header.\n .mobile-header\n display: none !important\n\n // Hide navigation links.\n .related-pages\n display: none !important\n\n////////////////////////////////////////////////////////////////////////////////\n// Tweaks related to decolorization.\n////////////////////////////////////////////////////////////////////////////////\n@media print\n // Apply a border around code which no longer have a color background.\n .highlight\n border: 0.1pt solid var(--color-foreground-border)\n\n////////////////////////////////////////////////////////////////////////////////\n// Avoid page break in some relevant cases.\n////////////////////////////////////////////////////////////////////////////////\n@media print\n ul, ol, dl, a, table, pre, blockquote\n page-break-inside: avoid\n\n h1, h2, h3, h4, h5, h6, img, figure, caption\n page-break-inside: avoid\n page-break-after: avoid\n\n ul, ol, dl\n page-break-before: avoid\n",".visually-hidden\n position: absolute !important\n width: 1px !important\n height: 1px !important\n padding: 0 !important\n margin: -1px !important\n overflow: hidden !important\n clip: rect(0,0,0,0) !important\n white-space: nowrap !important\n border: 0 !important\n\n:-moz-focusring\n outline: auto\n","// This file serves as the \"skeleton\" of the theming logic.\n//\n// This contains the bulk of the logic for handling dark mode, color scheme\n// toggling and the handling of color-scheme-specific hiding of elements.\n\nbody\n @include fonts\n @include spacing\n @include icons\n @include admonitions\n @include default-admonition(#651fff, \"abstract\")\n @include default-topic(#14B8A6, \"pencil\")\n\n @include colors\n\n.only-light\n display: block !important\nhtml body .only-dark\n display: none !important\n\n// Ignore dark-mode hints if print media.\n@media not print\n // Enable dark-mode, if requested.\n body[data-theme=\"dark\"]\n @include colors-dark\n\n html & .only-light\n display: none !important\n .only-dark\n display: block !important\n\n // Enable dark mode, unless explicitly told to avoid.\n @media (prefers-color-scheme: dark)\n body:not([data-theme=\"light\"])\n @include colors-dark\n\n html & .only-light\n display: none !important\n .only-dark\n display: block !important\n\n//\n// Theme toggle presentation\n//\nbody[data-theme=\"auto\"]\n .theme-toggle svg.theme-icon-when-auto\n display: block\n\nbody[data-theme=\"dark\"]\n .theme-toggle svg.theme-icon-when-dark\n display: block\n\nbody[data-theme=\"light\"]\n .theme-toggle svg.theme-icon-when-light\n display: block\n","// Fonts used by this theme.\n//\n// There are basically two things here -- using the system font stack and\n// defining sizes for various elements in %ages. We could have also used `em`\n// but %age is easier to reason about for me.\n\n@mixin fonts {\n // These are adapted from https://systemfontstack.com/\n --font-stack: -apple-system, BlinkMacSystemFont, Segoe UI, Helvetica, Arial,\n sans-serif, Apple Color Emoji, Segoe UI Emoji;\n --font-stack--monospace: \"SFMono-Regular\", Menlo, Consolas, Monaco,\n Liberation Mono, Lucida Console, monospace;\n\n --font-size--normal: 100%;\n --font-size--small: 87.5%;\n --font-size--small--2: 81.25%;\n --font-size--small--3: 75%;\n --font-size--small--4: 62.5%;\n\n // Sidebar\n --sidebar-caption-font-size: var(--font-size--small--2);\n --sidebar-item-font-size: var(--font-size--small);\n --sidebar-search-input-font-size: var(--font-size--small);\n\n // Table of Contents\n --toc-font-size: var(--font-size--small--3);\n --toc-font-size--mobile: var(--font-size--normal);\n --toc-title-font-size: var(--font-size--small--4);\n\n // Admonitions\n //\n // These aren't defined in terms of %ages, since nesting these is permitted.\n --admonition-font-size: 0.8125rem;\n --admonition-title-font-size: 0.8125rem;\n\n // Code\n --code-font-size: var(--font-size--small--2);\n\n // API\n --api-font-size: var(--font-size--small);\n}\n","// Spacing for various elements on the page\n//\n// If the user wants to tweak things in a certain way, they are permitted to.\n// They also have to deal with the consequences though!\n\n@mixin spacing {\n // Header!\n --header-height: calc(\n var(--sidebar-item-line-height) + 4 * #{var(--sidebar-item-spacing-vertical)}\n );\n --header-padding: 0.5rem;\n\n // Sidebar\n --sidebar-tree-space-above: 1.5rem;\n --sidebar-caption-space-above: 1rem;\n\n --sidebar-item-line-height: 1rem;\n --sidebar-item-spacing-vertical: 0.5rem;\n --sidebar-item-spacing-horizontal: 1rem;\n --sidebar-item-height: calc(\n var(--sidebar-item-line-height) + 2 *#{var(--sidebar-item-spacing-vertical)}\n );\n\n --sidebar-expander-width: var(--sidebar-item-height); // be square\n\n --sidebar-search-space-above: 0.5rem;\n --sidebar-search-input-spacing-vertical: 0.5rem;\n --sidebar-search-input-spacing-horizontal: 0.5rem;\n --sidebar-search-input-height: 1rem;\n --sidebar-search-icon-size: var(--sidebar-search-input-height);\n\n // Table of Contents\n --toc-title-padding: 0.25rem 0;\n --toc-spacing-vertical: 1.5rem;\n --toc-spacing-horizontal: 1.5rem;\n --toc-item-spacing-vertical: 0.4rem;\n --toc-item-spacing-horizontal: 1rem;\n}\n","// Expose theme icons as CSS variables.\n\n$icons: (\n // Adapted from tabler-icons\n // url: https://tablericons.com/\n \"search\":\n url('data:image/svg+xml;charset=utf-8,'),\n // Factored out from mkdocs-material on 24-Aug-2020.\n // url: https://squidfunk.github.io/mkdocs-material/reference/admonitions/\n \"pencil\":\n url('data:image/svg+xml;charset=utf-8,'),\n \"abstract\":\n url('data:image/svg+xml;charset=utf-8,'),\n \"info\":\n url('data:image/svg+xml;charset=utf-8,'),\n \"flame\":\n url('data:image/svg+xml;charset=utf-8,'),\n \"question\":\n url('data:image/svg+xml;charset=utf-8,'),\n \"warning\":\n url('data:image/svg+xml;charset=utf-8,'),\n \"failure\":\n url('data:image/svg+xml;charset=utf-8,'),\n \"spark\":\n url('data:image/svg+xml;charset=utf-8,')\n);\n\n@mixin icons {\n @each $name, $glyph in $icons {\n --icon-#{$name}: #{$glyph};\n }\n}\n","// Admonitions\n\n// Structure of these is:\n// admonition-class: color \"icon-name\";\n//\n// The colors are translated into CSS variables below. The icons are\n// used directly in the main declarations to set the `mask-image` in\n// the title.\n\n// prettier-ignore\n$admonitions: (\n // Each of these has an reST directives for it.\n \"caution\": #ff9100 \"spark\",\n \"warning\": #ff9100 \"warning\",\n \"danger\": #ff5252 \"spark\",\n \"attention\": #ff5252 \"warning\",\n \"error\": #ff5252 \"failure\",\n \"hint\": #00c852 \"question\",\n \"tip\": #00c852 \"info\",\n \"important\": #00bfa5 \"flame\",\n \"note\": #00b0ff \"pencil\",\n \"seealso\": #448aff \"info\",\n \"admonition-todo\": #808080 \"pencil\"\n);\n\n@mixin default-admonition($color, $icon-name) {\n --color-admonition-title: #{$color};\n --color-admonition-title-background: #{rgba($color, 0.2)};\n\n --icon-admonition-default: var(--icon-#{$icon-name});\n}\n\n@mixin default-topic($color, $icon-name) {\n --color-topic-title: #{$color};\n --color-topic-title-background: #{rgba($color, 0.2)};\n\n --icon-topic-default: var(--icon-#{$icon-name});\n}\n\n@mixin admonitions {\n @each $name, $values in $admonitions {\n --color-admonition-title--#{$name}: #{nth($values, 1)};\n --color-admonition-title-background--#{$name}: #{rgba(\n nth($values, 1),\n 0.2\n )};\n }\n}\n","// Colors used throughout this theme.\n//\n// The aim is to give the user more control. Thus, instead of hard-coding colors\n// in various parts of the stylesheet, the approach taken is to define all\n// colors as CSS variables and reusing them in all the places.\n//\n// `colors-dark` depends on `colors` being included at a lower specificity.\n\n@mixin colors {\n --color-problematic: #b30000;\n\n // Base Colors\n --color-foreground-primary: black; // for main text and headings\n --color-foreground-secondary: #5a5c63; // for secondary text\n --color-foreground-muted: #646776; // for muted text\n --color-foreground-border: #878787; // for content borders\n\n --color-background-primary: white; // for content\n --color-background-secondary: #f8f9fb; // for navigation + ToC\n --color-background-hover: #efeff4ff; // for navigation-item hover\n --color-background-hover--transparent: #efeff400;\n --color-background-border: #eeebee; // for UI borders\n --color-background-item: #ccc; // for \"background\" items (eg: copybutton)\n\n // Announcements\n --color-announcement-background: #000000dd;\n --color-announcement-text: #eeebee;\n\n // Brand colors\n --color-brand-primary: #2962ff;\n --color-brand-content: #2a5adf;\n\n // API documentation\n --color-api-background: var(--color-background-hover--transparent);\n --color-api-background-hover: var(--color-background-hover);\n --color-api-overall: var(--color-foreground-secondary);\n --color-api-name: var(--color-problematic);\n --color-api-pre-name: var(--color-problematic);\n --color-api-paren: var(--color-foreground-secondary);\n --color-api-keyword: var(--color-foreground-primary);\n --color-highlight-on-target: #ffffcc;\n\n // Inline code background\n --color-inline-code-background: var(--color-background-secondary);\n\n // Highlighted text (search)\n --color-highlighted-background: #ddeeff;\n --color-highlighted-text: var(--color-foreground-primary);\n\n // GUI Labels\n --color-guilabel-background: #ddeeff80;\n --color-guilabel-border: #bedaf580;\n --color-guilabel-text: var(--color-foreground-primary);\n\n // Admonitions!\n --color-admonition-background: transparent;\n\n //////////////////////////////////////////////////////////////////////////////\n // Everything below this should be one of:\n // - var(...)\n // - *-gradient(...)\n // - special literal values (eg: transparent, none)\n //////////////////////////////////////////////////////////////////////////////\n\n // Tables\n --color-table-header-background: var(--color-background-secondary);\n --color-table-border: var(--color-background-border);\n\n // Cards\n --color-card-border: var(--color-background-secondary);\n --color-card-background: transparent;\n --color-card-marginals-background: var(--color-background-secondary);\n\n // Header\n --color-header-background: var(--color-background-primary);\n --color-header-border: var(--color-background-border);\n --color-header-text: var(--color-foreground-primary);\n\n // Sidebar (left)\n --color-sidebar-background: var(--color-background-secondary);\n --color-sidebar-background-border: var(--color-background-border);\n\n --color-sidebar-brand-text: var(--color-foreground-primary);\n --color-sidebar-caption-text: var(--color-foreground-muted);\n --color-sidebar-link-text: var(--color-foreground-secondary);\n --color-sidebar-link-text--top-level: var(--color-brand-primary);\n\n --color-sidebar-item-background: var(--color-sidebar-background);\n --color-sidebar-item-background--current: var(\n --color-sidebar-item-background\n );\n --color-sidebar-item-background--hover: linear-gradient(\n 90deg,\n var(--color-background-hover--transparent) 0%,\n var(--color-background-hover) var(--sidebar-item-spacing-horizontal),\n var(--color-background-hover) 100%\n );\n\n --color-sidebar-item-expander-background: transparent;\n --color-sidebar-item-expander-background--hover: var(\n --color-background-hover\n );\n\n --color-sidebar-search-text: var(--color-foreground-primary);\n --color-sidebar-search-background: var(--color-background-secondary);\n --color-sidebar-search-background--focus: var(--color-background-primary);\n --color-sidebar-search-border: var(--color-background-border);\n --color-sidebar-search-icon: var(--color-foreground-muted);\n\n // Table of Contents (right)\n --color-toc-background: var(--color-background-primary);\n --color-toc-title-text: var(--color-foreground-muted);\n --color-toc-item-text: var(--color-foreground-secondary);\n --color-toc-item-text--hover: var(--color-foreground-primary);\n --color-toc-item-text--active: var(--color-brand-primary);\n\n // Actual page contents\n --color-content-foreground: var(--color-foreground-primary);\n --color-content-background: transparent;\n\n // Links\n --color-link: var(--color-brand-content);\n --color-link--hover: var(--color-brand-content);\n --color-link-underline: var(--color-background-border);\n --color-link-underline--hover: var(--color-foreground-border);\n}\n\n@mixin colors-dark {\n --color-problematic: #ee5151;\n\n // Base Colors\n --color-foreground-primary: #ffffffcc; // for main text and headings\n --color-foreground-secondary: #9ca0a5; // for secondary text\n --color-foreground-muted: #81868d; // for muted text\n --color-foreground-border: #666666; // for content borders\n\n --color-background-primary: #131416; // for content\n --color-background-secondary: #1a1c1e; // for navigation + ToC\n --color-background-hover: #1e2124ff; // for navigation-item hover\n --color-background-hover--transparent: #1e212400;\n --color-background-border: #303335; // for UI borders\n --color-background-item: #444; // for \"background\" items (eg: copybutton)\n\n // Announcements\n --color-announcement-background: #000000dd;\n --color-announcement-text: #eeebee;\n\n // Brand colors\n --color-brand-primary: #2b8cee;\n --color-brand-content: #368ce2;\n\n // Highlighted text (search)\n --color-highlighted-background: #083563;\n\n // GUI Labels\n --color-guilabel-background: #08356380;\n --color-guilabel-border: #13395f80;\n\n // API documentation\n --color-api-keyword: var(--color-foreground-secondary);\n --color-highlight-on-target: #333300;\n\n // Admonitions\n --color-admonition-background: #18181a;\n\n // Cards\n --color-card-border: var(--color-background-secondary);\n --color-card-background: #18181a;\n --color-card-marginals-background: var(--color-background-hover);\n}\n","// This file contains the styling for making the content throughout the page,\n// including fonts, paragraphs, headings and spacing among these elements.\n\nbody\n font-family: var(--font-stack)\npre,\ncode,\nkbd,\nsamp\n font-family: var(--font-stack--monospace)\n\n// Make fonts look slightly nicer.\nbody\n -webkit-font-smoothing: antialiased\n -moz-osx-font-smoothing: grayscale\n\n// Line height from Bootstrap 4.1\narticle\n line-height: 1.5\n\n//\n// Headings\n//\nh1,\nh2,\nh3,\nh4,\nh5,\nh6\n line-height: 1.25\n font-weight: bold\n\n border-radius: 0.5rem\n margin-top: 0.5rem\n margin-bottom: 0.5rem\n margin-left: -0.5rem\n margin-right: -0.5rem\n padding-left: 0.5rem\n padding-right: 0.5rem\n\n + p\n margin-top: 0\n\nh1\n font-size: 2.5em\n margin-top: 1.75rem\n margin-bottom: 1rem\nh2\n font-size: 2em\n margin-top: 1.75rem\nh3\n font-size: 1.5em\nh4\n font-size: 1.25em\nh5\n font-size: 1.125em\nh6\n font-size: 1em\n\nsmall\n opacity: 75%\n font-size: 80%\n\n// Paragraph\np\n margin-top: 0.5rem\n margin-bottom: 0.75rem\n\n// Horizontal rules\nhr.docutils\n height: 1px\n padding: 0\n margin: 2rem 0\n background-color: var(--color-background-border)\n border: 0\n\n.centered\n text-align: center\n\n// Links\na\n text-decoration: underline\n\n color: var(--color-link)\n text-decoration-color: var(--color-link-underline)\n\n &:hover\n color: var(--color-link--hover)\n text-decoration-color: var(--color-link-underline--hover)\n &.muted-link\n color: inherit\n &:hover\n color: var(--color-link)\n text-decoration-color: var(--color-link-underline--hover)\n","// This file contains the styles for the overall layouting of the documentation\n// skeleton, including the responsive changes as well as sidebar toggles.\n//\n// This is implemented as a mobile-last design, which isn't ideal, but it is\n// reasonably good-enough and I got pretty tired by the time I'd finished this\n// to move the rules around to fix this. Shouldn't take more than 3-4 hours,\n// if you know what you're doing tho.\n\n// HACK: Not all browsers account for the scrollbar width in media queries.\n// This results in horizontal scrollbars in the breakpoint where we go\n// from displaying everything to hiding the ToC. We accomodate for this by\n// adding a bit of padding to the TOC drawer, disabling the horizontal\n// scrollbar and allowing the scrollbars to cover the padding.\n// https://www.456bereastreet.com/archive/201301/media_query_width_and_vertical_scrollbars/\n\n// HACK: Always having the scrollbar visible, prevents certain browsers from\n// causing the content to stutter horizontally between taller-than-viewport and\n// not-taller-than-viewport pages.\n\nhtml\n overflow-x: hidden\n overflow-y: scroll\n scroll-behavior: smooth\n\n.sidebar-scroll, .toc-scroll, article[role=main] *\n // Override Firefox scrollbar style\n scrollbar-width: thin\n scrollbar-color: var(--color-foreground-border) transparent\n\n // Override Chrome scrollbar styles\n &::-webkit-scrollbar\n width: 0.25rem\n height: 0.25rem\n &::-webkit-scrollbar-thumb\n background-color: var(--color-foreground-border)\n border-radius: 0.125rem\n\n//\n// Overalls\n//\nhtml,\nbody\n height: 100%\n color: var(--color-foreground-primary)\n background: var(--color-background-primary)\n\narticle\n color: var(--color-content-foreground)\n background: var(--color-content-background)\n\n.page\n display: flex\n // fill the viewport for pages with little content.\n min-height: 100%\n\n.mobile-header\n width: 100%\n height: var(--header-height)\n background-color: var(--color-header-background)\n color: var(--color-header-text)\n border-bottom: 1px solid var(--color-header-border)\n\n // Looks like sub-script/super-script have this, and we need this to\n // be \"on top\" of those.\n z-index: 10\n\n // We don't show the header on large screens.\n display: none\n\n // Add shadow when scrolled\n &.scrolled\n border-bottom: none\n box-shadow: 0 0 0.2rem rgba(0, 0, 0, 0.1), 0 0.2rem 0.4rem rgba(0, 0, 0, 0.2)\n\n .header-center\n a\n color: var(--color-header-text)\n text-decoration: none\n\n.main\n display: flex\n flex: 1\n\n// Sidebar (left) also covers the entire left portion of screen.\n.sidebar-drawer\n box-sizing: border-box\n\n border-right: 1px solid var(--color-sidebar-background-border)\n background: var(--color-sidebar-background)\n\n display: flex\n justify-content: flex-end\n // These next two lines took me two days to figure out.\n width: calc((100% - #{$full-width}) / 2 + #{$sidebar-width})\n min-width: $sidebar-width\n\n// Scroll-along sidebars\n.sidebar-container,\n.toc-drawer\n box-sizing: border-box\n width: $sidebar-width\n\n.toc-drawer\n background: var(--color-toc-background)\n // See HACK described on top of this document\n padding-right: 1rem\n\n.sidebar-sticky,\n.toc-sticky\n position: sticky\n top: 0\n height: min(100%, 100vh)\n height: 100vh\n\n display: flex\n flex-direction: column\n\n.sidebar-scroll,\n.toc-scroll\n flex-grow: 1\n flex-shrink: 1\n\n overflow: auto\n scroll-behavior: smooth\n\n// Central items.\n.content\n padding: 0 $content-padding\n width: $content-width\n\n display: flex\n flex-direction: column\n justify-content: space-between\n\n.icon\n display: inline-block\n height: 1rem\n width: 1rem\n svg\n width: 100%\n height: 100%\n\n//\n// Accommodate announcement banner\n//\n.announcement\n background-color: var(--color-announcement-background)\n color: var(--color-announcement-text)\n\n height: var(--header-height)\n display: flex\n align-items: center\n overflow-x: auto\n & + .page\n min-height: calc(100% - var(--header-height))\n\n.announcement-content\n box-sizing: border-box\n padding: 0.5rem\n min-width: 100%\n white-space: nowrap\n text-align: center\n\n a\n color: var(--color-announcement-text)\n text-decoration-color: var(--color-announcement-text)\n\n &:hover\n color: var(--color-announcement-text)\n text-decoration-color: var(--color-link--hover)\n\n////////////////////////////////////////////////////////////////////////////////\n// Toggles for theme\n////////////////////////////////////////////////////////////////////////////////\n.no-js .theme-toggle-container // don't show theme toggle if there's no JS\n display: none\n\n.theme-toggle-container\n vertical-align: middle\n\n.theme-toggle\n cursor: pointer\n border: none\n padding: 0\n background: transparent\n\n.theme-toggle svg\n vertical-align: middle\n height: 1rem\n width: 1rem\n color: var(--color-foreground-primary)\n display: none\n\n.theme-toggle-header\n float: left\n padding: 1rem 0.5rem\n\n////////////////////////////////////////////////////////////////////////////////\n// Toggles for elements\n////////////////////////////////////////////////////////////////////////////////\n.toc-overlay-icon, .nav-overlay-icon\n display: none\n cursor: pointer\n\n .icon\n color: var(--color-foreground-secondary)\n height: 1rem\n width: 1rem\n\n.toc-header-icon, .nav-overlay-icon\n // for when we set display: flex\n justify-content: center\n align-items: center\n\n.toc-content-icon\n height: 1.5rem\n width: 1.5rem\n\n.content-icon-container\n float: right\n display: flex\n margin-top: 1.5rem\n margin-left: 1rem\n margin-bottom: 1rem\n gap: 0.5rem\n\n .edit-this-page svg\n color: inherit\n height: 1rem\n width: 1rem\n\n.sidebar-toggle\n position: absolute\n display: none\n// \n.sidebar-toggle[name=\"__toc\"]\n left: 20px\n.sidebar-toggle:checked\n left: 40px\n// \n\n.overlay\n position: fixed\n top: 0\n width: 0\n height: 0\n\n transition: width 0ms, height 0ms, opacity 250ms ease-out\n\n opacity: 0\n background-color: rgba(0, 0, 0, 0.54)\n.sidebar-overlay\n z-index: 20\n.toc-overlay\n z-index: 40\n\n// Keep things on top and smooth.\n.sidebar-drawer\n z-index: 30\n transition: left 250ms ease-in-out\n.toc-drawer\n z-index: 50\n transition: right 250ms ease-in-out\n\n// Show the Sidebar\n#__navigation:checked\n & ~ .sidebar-overlay\n width: 100%\n height: 100%\n opacity: 1\n & ~ .page\n .sidebar-drawer\n top: 0\n left: 0\n // Show the toc sidebar\n#__toc:checked\n & ~ .toc-overlay\n width: 100%\n height: 100%\n opacity: 1\n & ~ .page\n .toc-drawer\n top: 0\n right: 0\n\n////////////////////////////////////////////////////////////////////////////////\n// Back to top\n////////////////////////////////////////////////////////////////////////////////\n.back-to-top\n text-decoration: none\n\n display: none\n position: fixed\n left: 0\n top: 1rem\n padding: 0.5rem\n padding-right: 0.75rem\n border-radius: 1rem\n font-size: 0.8125rem\n\n background: var(--color-background-primary)\n box-shadow: 0 0.2rem 0.5rem rgba(0, 0, 0, 0.05), #6b728080 0px 0px 1px 0px\n\n z-index: 10\n\n margin-left: 50%\n transform: translateX(-50%)\n svg\n height: 1rem\n width: 1rem\n fill: currentColor\n display: inline-block\n\n span\n margin-left: 0.25rem\n\n .show-back-to-top &\n display: flex\n align-items: center\n\n////////////////////////////////////////////////////////////////////////////////\n// Responsive layouting\n////////////////////////////////////////////////////////////////////////////////\n// Make things a bit bigger on bigger screens.\n@media (min-width: $full-width + $sidebar-width)\n html\n font-size: 110%\n\n@media (max-width: $full-width)\n // Collapse \"toc\" into the icon.\n .toc-content-icon\n display: flex\n .toc-drawer\n position: fixed\n height: 100vh\n top: 0\n right: -$sidebar-width\n border-left: 1px solid var(--color-background-muted)\n .toc-tree\n border-left: none\n font-size: var(--toc-font-size--mobile)\n\n // Accomodate for a changed content width.\n .sidebar-drawer\n width: calc((100% - #{$full-width - $sidebar-width}) / 2 + #{$sidebar-width})\n\n@media (max-width: $full-width - $sidebar-width)\n // Collapse \"navigation\".\n .nav-overlay-icon\n display: flex\n .sidebar-drawer\n position: fixed\n height: 100vh\n width: $sidebar-width\n\n top: 0\n left: -$sidebar-width\n\n // Swap which icon is visible.\n .toc-header-icon\n display: flex\n .toc-content-icon, .theme-toggle-content\n display: none\n .theme-toggle-header\n display: block\n\n // Show the header.\n .mobile-header\n position: sticky\n top: 0\n display: flex\n justify-content: space-between\n align-items: center\n\n .header-left,\n .header-right\n display: flex\n height: var(--header-height)\n padding: 0 var(--header-padding)\n label\n height: 100%\n width: 100%\n user-select: none\n\n .nav-overlay-icon .icon,\n .theme-toggle svg\n height: 1.25rem\n width: 1.25rem\n\n // Add a scroll margin for the content\n :target\n scroll-margin-top: var(--header-height)\n\n // Show back-to-top below the header\n .back-to-top\n top: calc(var(--header-height) + 0.5rem)\n\n // Center the page, and accommodate for the header.\n .page\n flex-direction: column\n justify-content: center\n .content\n margin-left: auto\n margin-right: auto\n\n@media (max-width: $content-width + 2* $content-padding)\n // Content should respect window limits.\n .content\n width: 100%\n overflow-x: auto\n\n@media (max-width: $content-width)\n .content\n padding: 0 $content-padding--small\n // Don't float sidebars to the right.\n article aside.sidebar\n float: none\n width: 100%\n margin: 1rem 0\n","// Overall Layout Variables\n//\n// Because CSS variables can't be used in media queries. The fact that this\n// makes the layout non-user-configurable is a good thing.\n$content-padding: 3em;\n$content-padding--small: 1em;\n$content-width: 46em;\n$sidebar-width: 15em;\n$full-width: $content-width + 2 * ($content-padding + $sidebar-width);\n","//\n// The design here is strongly inspired by mkdocs-material.\n.admonition, .topic\n margin: 1rem auto\n padding: 0 0.5rem 0.5rem 0.5rem\n\n background: var(--color-admonition-background)\n\n border-radius: 0.2rem\n box-shadow: 0 0.2rem 0.5rem rgba(0, 0, 0, 0.05), 0 0 0.0625rem rgba(0, 0, 0, 0.1)\n\n font-size: var(--admonition-font-size)\n\n overflow: hidden\n page-break-inside: avoid\n\n // First element should have no margin, since the title has it.\n > :nth-child(2)\n margin-top: 0\n\n // Last item should have no margin, since we'll control that w/ padding\n > :last-child\n margin-bottom: 0\n\np.admonition-title, p.topic-title\n position: relative\n margin: 0 -0.5rem 0.5rem\n padding-left: 2rem\n padding-right: .5rem\n padding-top: .4rem\n padding-bottom: .4rem\n\n font-weight: 500\n font-size: var(--admonition-title-font-size)\n line-height: 1.3\n\n // Our fancy icon\n &::before\n content: \"\"\n position: absolute\n left: 0.5rem\n width: 1rem\n height: 1rem\n\n// Default styles\np.admonition-title\n background-color: var(--color-admonition-title-background)\n &::before\n background-color: var(--color-admonition-title)\n mask-image: var(--icon-admonition-default)\n mask-repeat: no-repeat\n\np.topic-title\n background-color: var(--color-topic-title-background)\n &::before\n background-color: var(--color-topic-title)\n mask-image: var(--icon-topic-default)\n mask-repeat: no-repeat\n\n//\n// Variants\n//\n.admonition\n border-left: 0.2rem solid var(--color-admonition-title)\n\n @each $type, $value in $admonitions\n &.#{$type}\n border-left-color: var(--color-admonition-title--#{$type})\n > .admonition-title\n background-color: var(--color-admonition-title-background--#{$type})\n &::before\n background-color: var(--color-admonition-title--#{$type})\n mask-image: var(--icon-#{nth($value, 2)})\n\n.admonition-todo > .admonition-title\n text-transform: uppercase\n","// This file stylizes the API documentation (stuff generated by autodoc). It's\n// deeply nested due to how autodoc structures the HTML without enough classes\n// to select the relevant items.\n\n// API docs!\ndl[class]:not(.option-list):not(.field-list):not(.footnote):not(.glossary):not(.simple)\n // Tweak the spacing of all the things!\n dd\n margin-left: 2rem\n > :first-child\n margin-top: 0.125rem\n > :last-child\n margin-bottom: 0.75rem\n\n // This is used for the arguments\n .field-list\n margin-bottom: 0.75rem\n\n // \"Headings\" (like \"Parameters\" and \"Return\")\n > dt\n text-transform: uppercase\n font-size: var(--font-size--small)\n\n dd:empty\n margin-bottom: 0.5rem\n dd > ul\n margin-left: -1.2rem\n > li\n > p:nth-child(2)\n margin-top: 0\n // When the last-empty-paragraph follows a paragraph, it doesn't need\n // to augument the existing spacing.\n > p + p:last-child:empty\n margin-top: 0\n margin-bottom: 0\n\n // Colorize the elements\n > dt\n color: var(--color-api-overall)\n\n.sig:not(.sig-inline)\n font-weight: bold\n\n font-size: var(--api-font-size)\n font-family: var(--font-stack--monospace)\n\n margin-left: -0.25rem\n margin-right: -0.25rem\n padding-top: 0.25rem\n padding-bottom: 0.25rem\n padding-right: 0.5rem\n\n // These are intentionally em, to properly match the font size.\n padding-left: 3em\n text-indent: -2.5em\n\n border-radius: 0.25rem\n\n background: var(--color-api-background)\n transition: background 100ms ease-out\n\n &:hover\n background: var(--color-api-background-hover)\n\n // adjust the size of the [source] link on the right.\n a.reference\n .viewcode-link\n font-weight: normal\n width: 3.5rem\n\n // Break words when they're too long\n span.pre\n overflow-wrap: anywhere\n\nem.property\n font-style: normal\n &:first-child\n color: var(--color-api-keyword)\n.sig-name\n color: var(--color-api-name)\n.sig-prename\n font-weight: normal\n color: var(--color-api-pre-name)\n.sig-paren\n color: var(--color-api-paren)\n.sig-param\n font-style: normal\n\n.versionmodified\n font-style: italic\ndiv.versionadded, div.versionchanged, div.deprecated\n p\n margin-top: 0.125rem\n margin-bottom: 0.125rem\n\n// Align the [docs] and [source] to the right.\n.viewcode-link, .viewcode-back\n float: right\n text-align: right\n",".line-block\n margin-top: 0.5rem\n margin-bottom: 0.75rem\n .line-block\n margin-top: 0rem\n margin-bottom: 0rem\n padding-left: 1rem\n","// Captions\narticle p.caption,\ntable > caption,\n.code-block-caption\n font-size: var(--font-size--small)\n text-align: center\n\n// Caption above a TOCTree\n.toctree-wrapper.compound\n .caption, :not(.caption) > .caption-text\n font-size: var(--font-size--small)\n text-transform: uppercase\n\n text-align: initial\n margin-bottom: 0\n\n > ul\n margin-top: 0\n margin-bottom: 0\n","// Inline code\ncode.literal, .sig-inline\n background: var(--color-inline-code-background)\n border-radius: 0.2em\n // Make the font smaller, and use padding to recover.\n font-size: var(--font-size--small--2)\n padding: 0.1em 0.2em\n\n overflow-wrap: break-word\n\n p &\n border: 1px solid var(--color-background-border)\n\n.sig-inline\n font-family: var(--font-stack--monospace)\n\n// Code and Literal Blocks\n$code-spacing-vertical: 0.625rem\n$code-spacing-horizontal: 0.875rem\n\n// Wraps every literal block + line numbers.\ndiv[class*=\" highlight-\"],\ndiv[class^=\"highlight-\"]\n margin: 1em 0\n display: flex\n\n .table-wrapper\n margin: 0\n padding: 0\n\npre\n margin: 0\n padding: 0\n overflow: auto\n\n // Needed to have more specificity than pygments' \"pre\" selector. :(\n article[role=\"main\"] .highlight &\n line-height: 1.5\n\n &.literal-block,\n .highlight &\n font-size: var(--code-font-size)\n padding: $code-spacing-vertical $code-spacing-horizontal\n\n // Make it look like all the other blocks.\n &.literal-block\n margin-top: 1rem\n margin-bottom: 1rem\n\n border-radius: 0.2rem\n background-color: var(--color-code-background)\n color: var(--color-code-foreground)\n\n// All code is always contained in this.\n.highlight\n width: 100%\n border-radius: 0.2rem\n\n // Make line numbers and prompts un-selectable.\n .gp, span.linenos\n user-select: none\n pointer-events: none\n\n // Expand the line-highlighting.\n .hll\n display: block\n margin-left: -$code-spacing-horizontal\n margin-right: -$code-spacing-horizontal\n padding-left: $code-spacing-horizontal\n padding-right: $code-spacing-horizontal\n\n/* Make code block captions be nicely integrated */\n.code-block-caption\n display: flex\n padding: $code-spacing-vertical $code-spacing-horizontal\n\n border-radius: 0.25rem\n border-bottom-left-radius: 0\n border-bottom-right-radius: 0\n font-weight: 300\n border-bottom: 1px solid\n\n background-color: var(--color-code-background)\n color: var(--color-code-foreground)\n border-color: var(--color-background-border)\n\n + div[class]\n margin-top: 0\n pre\n border-top-left-radius: 0\n border-top-right-radius: 0\n\n// When `html_codeblock_linenos_style` is table.\n.highlighttable\n width: 100%\n display: block\n tbody\n display: block\n\n tr\n display: flex\n\n // Line numbers\n td.linenos\n background-color: var(--color-code-background)\n color: var(--color-code-foreground)\n padding: $code-spacing-vertical $code-spacing-horizontal\n padding-right: 0\n border-top-left-radius: 0.2rem\n border-bottom-left-radius: 0.2rem\n\n .linenodiv\n padding-right: $code-spacing-horizontal\n font-size: var(--code-font-size)\n box-shadow: -0.0625rem 0 var(--color-foreground-border) inset\n\n // Actual code\n td.code\n padding: 0\n display: block\n flex: 1\n overflow: hidden\n\n .highlight\n border-top-left-radius: 0\n border-bottom-left-radius: 0\n\n// When `html_codeblock_linenos_style` is inline.\n.highlight\n span.linenos\n display: inline-block\n padding-left: 0\n padding-right: $code-spacing-horizontal\n margin-right: $code-spacing-horizontal\n box-shadow: -0.0625rem 0 var(--color-foreground-border) inset\n","// Inline Footnote Reference\n.footnote-reference\n font-size: var(--font-size--small--4)\n vertical-align: super\n\n// Definition list, listing the content of each note.\n// docutils <= 0.17\ndl.footnote.brackets\n font-size: var(--font-size--small)\n color: var(--color-foreground-secondary)\n\n display: grid\n grid-template-columns: max-content auto\n dt\n margin: 0\n > .fn-backref\n margin-left: 0.25rem\n\n &:after\n content: \":\"\n\n .brackets\n &:before\n content: \"[\"\n &:after\n content: \"]\"\n\n dd\n margin: 0\n padding: 0 1rem\n\n// docutils >= 0.18\naside.footnote\n font-size: var(--font-size--small)\n color: var(--color-foreground-secondary)\n\naside.footnote > span,\ndiv.citation > span\n float: left\n font-weight: 500\n padding-right: 0.25rem\n\naside.footnote > p,\ndiv.citation > p\n margin-left: 2rem\n","//\n// Figures\n//\nimg\n box-sizing: border-box\n max-width: 100%\n height: auto\n\narticle\n figure, .figure\n border-radius: 0.2rem\n\n margin: 0\n :last-child\n margin-bottom: 0\n\n .align-left\n float: left\n clear: left\n margin: 0 1rem 1rem\n\n .align-right\n float: right\n clear: right\n margin: 0 1rem 1rem\n\n .align-default,\n .align-center\n display: block\n text-align: center\n margin-left: auto\n margin-right: auto\n\n // WELL, table needs to be stylised like a table.\n table.align-default\n display: table\n text-align: initial\n",".genindex-jumpbox, .domainindex-jumpbox\n border-top: 1px solid var(--color-background-border)\n border-bottom: 1px solid var(--color-background-border)\n padding: 0.25rem\n\n.genindex-section, .domainindex-section\n h2\n margin-top: 0.75rem\n margin-bottom: 0.5rem\n ul\n margin-top: 0\n margin-bottom: 0\n","ul,\nol\n padding-left: 1.2rem\n\n // Space lists out like paragraphs\n margin-top: 1rem\n margin-bottom: 1rem\n // reduce margins within li.\n li\n > p:first-child\n margin-top: 0.25rem\n margin-bottom: 0.25rem\n\n > p:last-child\n margin-top: 0.25rem\n\n > ul,\n > ol\n margin-top: 0.5rem\n margin-bottom: 0.5rem\n\nol\n &.arabic\n list-style: decimal\n &.loweralpha\n list-style: lower-alpha\n &.upperalpha\n list-style: upper-alpha\n &.lowerroman\n list-style: lower-roman\n &.upperroman\n list-style: upper-roman\n\n// Don't space lists out when they're \"simple\" or in a `.. toctree::`\n.simple,\n.toctree-wrapper\n li\n > ul,\n > ol\n margin-top: 0\n margin-bottom: 0\n\n// Definition Lists\n.field-list,\n.option-list,\ndl:not([class]),\ndl.simple,\ndl.footnote,\ndl.glossary\n dt\n font-weight: 500\n margin-top: 0.25rem\n + dt\n margin-top: 0\n\n .classifier::before\n content: \":\"\n margin-left: 0.2rem\n margin-right: 0.2rem\n\n dd\n > p:first-child,\n ul\n margin-top: 0.125rem\n\n ul\n margin-bottom: 0.125rem\n",".math-wrapper\n width: 100%\n overflow-x: auto\n\ndiv.math\n position: relative\n text-align: center\n\n .headerlink,\n &:focus .headerlink\n display: none\n\n &:hover .headerlink\n display: inline-block\n\n span.eqno\n position: absolute\n right: 0.5rem\n top: 50%\n transform: translate(0, -50%)\n z-index: 1\n","// Abbreviations\nabbr[title]\n cursor: help\n\n// \"Problematic\" content, as identified by Sphinx\n.problematic\n color: var(--color-problematic)\n\n// Keyboard / Mouse \"instructions\"\nkbd:not(.compound)\n margin: 0 0.2rem\n padding: 0 0.2rem\n border-radius: 0.2rem\n border: 1px solid var(--color-foreground-border)\n color: var(--color-foreground-primary)\n vertical-align: text-bottom\n\n font-size: var(--font-size--small--3)\n display: inline-block\n\n box-shadow: 0 0.0625rem 0 rgba(0, 0, 0, 0.2), inset 0 0 0 0.125rem var(--color-background-primary)\n\n background-color: var(--color-background-secondary)\n\n// Blockquote\nblockquote\n border-left: 4px solid var(--color-background-border)\n background: var(--color-background-secondary)\n\n margin-left: 0\n margin-right: 0\n padding: 0.5rem 1rem\n\n .attribution\n font-weight: 600\n text-align: right\n\n &.pull-quote,\n &.highlights\n font-size: 1.25em\n\n &.epigraph,\n &.pull-quote\n border-left-width: 0\n border-radius: 0.5rem\n\n &.highlights\n border-left-width: 0\n background: transparent\n\n// Center align embedded-in-text images\np .reference img\n vertical-align: middle\n","p.rubric\n line-height: 1.25\n font-weight: bold\n font-size: 1.125em\n\n // For Numpy-style documentation that's got rubrics within it.\n // https://github.com/pradyunsg/furo/discussions/505\n dd &\n line-height: inherit\n font-weight: inherit\n\n font-size: var(--font-size--small)\n text-transform: uppercase\n","article .sidebar\n float: right\n clear: right\n width: 30%\n\n margin-left: 1rem\n margin-right: 0\n\n border-radius: 0.2rem\n background-color: var(--color-background-secondary)\n border: var(--color-background-border) 1px solid\n\n > *\n padding-left: 1rem\n padding-right: 1rem\n\n > ul, > ol // lists need additional padding, because bullets.\n padding-left: 2.2rem\n\n .sidebar-title\n margin: 0\n padding: 0.5rem 1rem\n border-bottom: var(--color-background-border) 1px solid\n\n font-weight: 500\n\n// TODO: subtitle\n// TODO: dedicated variables?\n",".table-wrapper\n width: 100%\n overflow-x: auto\n margin-top: 1rem\n margin-bottom: 0.5rem\n padding: 0.2rem 0.2rem 0.75rem\n\ntable.docutils\n border-radius: 0.2rem\n border-spacing: 0\n border-collapse: collapse\n\n box-shadow: 0 0.2rem 0.5rem rgba(0, 0, 0, 0.05), 0 0 0.0625rem rgba(0, 0, 0, 0.1)\n\n th\n background: var(--color-table-header-background)\n\n td,\n th\n // Space things out properly\n padding: 0 0.25rem\n\n // Get the borders looking just-right.\n border-left: 1px solid var(--color-table-border)\n border-right: 1px solid var(--color-table-border)\n border-bottom: 1px solid var(--color-table-border)\n\n p\n margin: 0.25rem\n\n &:first-child\n border-left: none\n &:last-child\n border-right: none\n\n // MyST-parser tables set these classes for control of column alignment\n &.text-left\n text-align: left\n &.text-right\n text-align: right\n &.text-center\n text-align: center\n",":target\n scroll-margin-top: 0.5rem\n\n@media (max-width: $full-width - $sidebar-width)\n :target\n scroll-margin-top: calc(0.5rem + var(--header-height))\n\n // When a heading is selected\n section > span:target\n scroll-margin-top: calc(0.8rem + var(--header-height))\n\n// Permalinks\n.headerlink\n font-weight: 100\n user-select: none\n\nh1,\nh2,\nh3,\nh4,\nh5,\nh6,\ndl dt,\np.caption,\nfigcaption p,\ntable > caption,\n.code-block-caption\n > .headerlink\n margin-left: 0.5rem\n visibility: hidden\n &:hover > .headerlink\n visibility: visible\n\n // Don't change to link-like, if someone adds the contents directive.\n > .toc-backref\n color: inherit\n text-decoration-line: none\n\n// Figure and table captions are special.\nfigure:hover > figcaption > p > .headerlink,\ntable:hover > caption > .headerlink\n visibility: visible\n\n:target >, // Regular section[id] style anchors\nspan:target ~ // Non-regular span[id] style \"extra\" anchors\n h1,\n h2,\n h3,\n h4,\n h5,\n h6\n &:nth-of-type(1)\n background-color: var(--color-highlight-on-target)\n // .headerlink\n // visibility: visible\n code.literal\n background-color: transparent\n\ntable:target > caption,\nfigure:target\n background-color: var(--color-highlight-on-target)\n\n// Inline page contents\n.this-will-duplicate-information-and-it-is-still-useful-here li :target\n background-color: var(--color-highlight-on-target)\n\n// Code block permalinks\n.literal-block-wrapper:target .code-block-caption\n background-color: var(--color-highlight-on-target)\n\n// When a definition list item is selected\n//\n// There isn't really an alternative to !important here, due to the\n// high-specificity of API documentation's selector.\ndt:target\n background-color: var(--color-highlight-on-target) !important\n\n// When a footnote reference is selected\n.footnote > dt:target + dd,\n.footnote-reference:target\n background-color: var(--color-highlight-on-target)\n",".guilabel\n background-color: var(--color-guilabel-background)\n border: 1px solid var(--color-guilabel-border)\n color: var(--color-guilabel-text)\n\n padding: 0 0.3em\n border-radius: 0.5em\n font-size: 0.9em\n","// This file contains the styles used for stylizing the footer that's shown\n// below the content.\n\nfooter\n font-size: var(--font-size--small)\n display: flex\n flex-direction: column\n\n margin-top: 2rem\n\n// Bottom of page information\n.bottom-of-page\n display: flex\n align-items: center\n justify-content: space-between\n\n margin-top: 1rem\n padding-top: 1rem\n padding-bottom: 1rem\n\n color: var(--color-foreground-secondary)\n border-top: 1px solid var(--color-background-border)\n\n line-height: 1.5\n\n @media (max-width: $content-width)\n text-align: center\n flex-direction: column-reverse\n gap: 0.25rem\n\n .left-details\n font-size: var(--font-size--small)\n\n .right-details\n display: flex\n flex-direction: column\n gap: 0.25rem\n text-align: right\n\n .icons\n display: flex\n justify-content: flex-end\n gap: 0.25rem\n font-size: 1rem\n\n a\n text-decoration: none\n\n svg,\n img\n font-size: 1.125rem\n height: 1em\n width: 1em\n\n// Next/Prev page information\n.related-pages\n a\n display: flex\n align-items: center\n\n text-decoration: none\n &:hover .page-info .title\n text-decoration: underline\n color: var(--color-link)\n text-decoration-color: var(--color-link-underline)\n\n svg.furo-related-icon,\n svg.furo-related-icon > use\n flex-shrink: 0\n\n color: var(--color-foreground-border)\n\n width: 0.75rem\n height: 0.75rem\n margin: 0 0.5rem\n\n &.next-page\n max-width: 50%\n\n float: right\n clear: right\n text-align: right\n\n &.prev-page\n max-width: 50%\n\n float: left\n clear: left\n\n svg\n transform: rotate(180deg)\n\n.page-info\n display: flex\n flex-direction: column\n overflow-wrap: anywhere\n\n .next-page &\n align-items: flex-end\n\n .context\n display: flex\n align-items: center\n\n padding-bottom: 0.1rem\n\n color: var(--color-foreground-muted)\n font-size: var(--font-size--small)\n text-decoration: none\n","//\n// Search Page Listing\n//\nul.search\n padding-left: 0\n list-style: none\n\n li\n padding: 1rem 0\n border-bottom: 1px solid var(--color-background-border)\n\n//\n// Highlighted by links in search page\n//\n[role=main] .highlighted\n background-color: var(--color-highlighted-background)\n color: var(--color-highlighted-text)\n","// This file contains the styles for the contents of the left sidebar, which\n// contains the navigation tree, logo, search etc.\n\n////////////////////////////////////////////////////////////////////////////////\n// Brand on top of the scrollable tree.\n////////////////////////////////////////////////////////////////////////////////\n.sidebar-brand\n display: flex\n flex-direction: column\n flex-shrink: 0\n\n padding: var(--sidebar-item-spacing-vertical) var(--sidebar-item-spacing-horizontal)\n text-decoration: none\n\n.sidebar-brand-text\n color: var(--color-sidebar-brand-text)\n overflow-wrap: break-word\n margin: var(--sidebar-item-spacing-vertical) 0\n font-size: 1.5rem\n\n.sidebar-logo-container\n margin: var(--sidebar-item-spacing-vertical) 0\n\n.sidebar-logo\n margin: 0 auto\n display: block\n max-width: 100%\n\n////////////////////////////////////////////////////////////////////////////////\n// Search\n////////////////////////////////////////////////////////////////////////////////\n.sidebar-search-container\n display: flex\n align-items: center\n margin-top: var(--sidebar-search-space-above)\n\n position: relative\n\n background: var(--color-sidebar-search-background)\n &:hover,\n &:focus-within\n background: var(--color-sidebar-search-background--focus)\n\n &::before\n content: \"\"\n position: absolute\n left: var(--sidebar-item-spacing-horizontal)\n width: var(--sidebar-search-icon-size)\n height: var(--sidebar-search-icon-size)\n\n background-color: var(--color-sidebar-search-icon)\n mask-image: var(--icon-search)\n\n.sidebar-search\n box-sizing: border-box\n\n border: none\n border-top: 1px solid var(--color-sidebar-search-border)\n border-bottom: 1px solid var(--color-sidebar-search-border)\n\n padding-top: var(--sidebar-search-input-spacing-vertical)\n padding-bottom: var(--sidebar-search-input-spacing-vertical)\n padding-right: var(--sidebar-search-input-spacing-horizontal)\n padding-left: calc(var(--sidebar-item-spacing-horizontal) + var(--sidebar-search-input-spacing-horizontal) + var(--sidebar-search-icon-size))\n\n width: 100%\n\n color: var(--color-sidebar-search-foreground)\n background: transparent\n z-index: 10\n\n &:focus\n outline: none\n\n &::placeholder\n font-size: var(--sidebar-search-input-font-size)\n\n//\n// Hide Search Matches link\n//\n#searchbox .highlight-link\n padding: var(--sidebar-item-spacing-vertical) var(--sidebar-item-spacing-horizontal) 0\n margin: 0\n text-align: center\n\n a\n color: var(--color-sidebar-search-icon)\n font-size: var(--font-size--small--2)\n\n////////////////////////////////////////////////////////////////////////////////\n// Structure/Skeleton of the navigation tree (left)\n////////////////////////////////////////////////////////////////////////////////\n.sidebar-tree\n font-size: var(--sidebar-item-font-size)\n margin-top: var(--sidebar-tree-space-above)\n margin-bottom: var(--sidebar-item-spacing-vertical)\n\n ul\n padding: 0\n margin-top: 0\n margin-bottom: 0\n\n display: flex\n flex-direction: column\n\n list-style: none\n\n li\n position: relative\n margin: 0\n\n > ul\n margin-left: var(--sidebar-item-spacing-horizontal)\n\n .icon\n color: var(--color-sidebar-link-text)\n\n .reference\n box-sizing: border-box\n color: var(--color-sidebar-link-text)\n\n // Fill the parent.\n display: inline-block\n line-height: var(--sidebar-item-line-height)\n text-decoration: none\n\n // Don't allow long words to cause wrapping.\n overflow-wrap: anywhere\n\n height: 100%\n width: 100%\n\n padding: var(--sidebar-item-spacing-vertical) var(--sidebar-item-spacing-horizontal)\n\n &:hover\n background: var(--color-sidebar-item-background--hover)\n\n // Add a nice little \"external-link\" arrow here.\n &.external::after\n content: url('data:image/svg+xml,')\n margin: 0 0.25rem\n vertical-align: middle\n color: var(--color-sidebar-link-text)\n\n // Make the current page reference bold.\n .current-page > .reference\n font-weight: bold\n\n label\n position: absolute\n top: 0\n right: 0\n height: var(--sidebar-item-height)\n width: var(--sidebar-expander-width)\n\n cursor: pointer\n user-select: none\n\n display: flex\n justify-content: center\n align-items: center\n\n .caption, :not(.caption) > .caption-text\n font-size: var(--sidebar-caption-font-size)\n color: var(--color-sidebar-caption-text)\n\n font-weight: bold\n text-transform: uppercase\n\n margin: var(--sidebar-caption-space-above) 0 0 0\n padding: var(--sidebar-item-spacing-vertical) var(--sidebar-item-spacing-horizontal)\n\n // If it has children, add a bit more padding to wrap the content to avoid\n // overlapping with the
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-
- -
-

HistoryΒΆ

-
-

0.1.0 (2020-11-13)ΒΆ

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+ +
+ +
+
+
+

History#

+
+

0.1.0 (2020-11-13)#

  • First release on PyPI.

-
-
- + + -
- + + + +
+
+ + On this page + +
+
+
+ +
- - - + + + - - - - - - - - - - + + + + + \ No newline at end of file diff --git a/docs/html/index.html b/docs/html/index.html index 09298b2..d1c4771 100644 --- a/docs/html/index.html +++ b/docs/html/index.html @@ -1,172 +1,233 @@ + + + + + + + + + SHaSTA 0.1.0 documentation + + + + + + - - - - + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + + + +
+
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+
SHaSTA 0.1.0 documentation
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+ +
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+ +
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+ + + + + Back to top + +
- - - - - - -
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- -
-

Welcome to shasta’s documentation!ΒΆ

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+ +
+ +
+
+
+

Welcome to shasta’s documentation!#

-

Contents:

+

Contents:

-
-
-

Indices and tablesΒΆ

+ +
+

Indices and tables#

-
- + -
- + +
+
- - -
- -
-

- - © Copyright 2020, Hemanth Manjunatha - -

-
- - - - Built with Sphinx using a - - theme - - provided by Read the Docs. - - - -
-
- - - + - - - - - - - - - - + + + + + \ No newline at end of file diff --git a/docs/html/installation.html b/docs/html/installation.html index 2b73097..e99635b 100644 --- a/docs/html/installation.html +++ b/docs/html/installation.html @@ -1,253 +1,323 @@ + + + + + + + + + Installation - SHaSTA 0.1.0 documentation + + + + + + - - - - + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + + + +
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+
SHaSTA 0.1.0 documentation
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- -
-

InstallationΒΆ

-
-

Stable releaseΒΆ

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+ +
+ +
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+
+

Installation#

+
+

Stable release#

To install shasta, run this command in your terminal:

-
$ pip install shasta
+
$ pip install shasta
 

 

 
This is the preferred method to install shasta, as it will always install the most recent stable release.

 
If you don’t have pip installed, this Python installation guide can guide
 you through the process.

-
-
-

From sourcesΒΆ

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+
+

From sources#

The sources for shasta can be downloaded from the Github repo.

You can either clone the public repository:

-
$ git clone git://github.com/hemumanju/shasta
-
-
-

Or download the tarball:

-
$ curl -OJL https://github.com/hemumanju/shasta/tarball/master
+
$ git clone git://github.com/hemumanju/shasta
 

 

-
Once you have a copy of the source, you can install it with:

-
$ python setup.py install
+
$ python setup.py install
 

 

-

-

-
+
+
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- + +
+
- - -
- -
-

- - © Copyright 2020, Hemanth Manjunatha - -

-
- - - - Built with Sphinx using a - - theme - - provided by Read the Docs. - - +
+
+ + On this page + +
+
+
+ +
- - - + + +
- - - - - - - - - - +
+ + + + \ No newline at end of file diff --git a/docs/html/objects.inv b/docs/html/objects.inv index ec74ebc..f163edc 100644 Binary files a/docs/html/objects.inv and b/docs/html/objects.inv differ diff --git a/docs/html/py-modindex.html b/docs/html/py-modindex.html index dbadb39..a9da302 100644 --- a/docs/html/py-modindex.html +++ b/docs/html/py-modindex.html @@ -1,447 +1,368 @@ + + + + + + + Python Module Index - SHaSTA 0.1.0 documentation + + + + + + - - - - + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + + + +
+
+
+ +
+
+
SHaSTA 0.1.0 documentation
 +
+
+
+ +
+ +
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+ +
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+
+ + + + + Back to top + +
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+ +
+ +
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+ Copyright © 2020, Hemanth Manjunatha +
+ Made with Sphinx and @pradyunsg's + + Furo + +
+
- -

Python Module Index

- -
- _ | - d | - e | - g | - m | - u -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
 
- _
- __initi__ -
 
- d
- default_actions -
 
- e
- envs -
    - envs.action_manager -
    - envs.agents -
    - envs.agents.control -
    - envs.agents.uav -
    - envs.agents.ugv -
    - envs.agents.utils -
    - envs.base_env -
    - envs.blue_team -
    - envs.blue_team.blue_base -
    - envs.blue_team.utils -
    - envs.enhance_env -
    - envs.interaction_manager -
    - envs.primitive_manager -
    - envs.primitives -
    - envs.primitives.engaging -
    - envs.primitives.engaging.shooting -
    - envs.primitives.formation -
    - envs.primitives.formation.control -
    - envs.primitives.planning -
    - envs.primitives.planning.planners -
    - envs.red_team -
    - envs.red_team.red_base -
    - envs.red_team.utils -
    - envs.sensors -
    - envs.state_manager -
    - envs.utils -
    - envs.utils.interaction -
    - envs.utils.magicattr -
 
- g
- gui -
    - gui.core -
    - gui.core.information -
    - gui.core.obj -
    - gui.core.shape_utils -
    - gui.core.user -
    - gui.core.utils -
    - gui.gui_main -
 
- m
- main -
 
- u
- utils -
- - -
-
-
- - -
- -
-

- - © Copyright 2020, Hemanth Manjunatha - -

-
- - - - Built with Sphinx using a - - theme - - provided by Read the Docs. - -
-
-
- - - + + +
+
- - - - - - - - - - +
+ + + + \ No newline at end of file diff --git a/docs/html/readme.html b/docs/html/readme.html index 488a4b3..785cac3 100644 --- a/docs/html/readme.html +++ b/docs/html/readme.html @@ -1,245 +1,386 @@ + + + + + + + + + Welcome - SHaSTA 0.1.0 documentation + + + + + + - - - - + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + + + +
+
+
+ +
+
+
SHaSTA 0.1.0 documentation
 +
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+ +
+ +
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+ +
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+ + + + + Back to top + +
- - - - - - -
-
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- -
-

shastaΒΆ

-https://img.shields.io/pypi/v/shasta.svg -https://img.shields.io/travis/hemumanju/shasta.svg -Documentation Status -

SHaSTA: A simulator for human and swarm team applications.

+
+ +
+ +
+
+
+

Welcome#

+
+

SHaSTA (Simulator for Human and Swarm Team Applications)#

+

Simulator Banner +(Screenshot for illustration purposes only.)

+

Welcome to the SHaSTA! An open-source simulation platform to study human-swarm applications. The platform provides a unified interface for humans and learning algorithms to command/learn swarm robot behaviors. SHaSTA also provides a unique ability to collect physiological information from humans and time synchronize it with swarm simulation.

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+

Table of Contents#

-
-

FeaturesΒΆ

+
+
+

Features#

    -

  • TODO

    • +

  • Realistic swarm simulation powered by the pybullet.

    • +

  • Human-Swarm Interaction interface.

    • +

  • Physiological signal (EEG, EMG, Eye movement, etc.) collection facility built on lab streaming layer.

    • +

  • OpenAI Gym interface for reinforcement learning experiments.

    • +

  • Highly customizable simulation environment.

    • +

  • Easy-to-use and well-documented codebase.

+
+
+

Installation#

+
    +

  1. Clone this repository to your local machine using:

    +
    git clone https://github.com/ub-nsf-hsi/shasta-ub.git
+
+
    -
    -

    CreditsΒΆ

    -

    This package was created with Cookiecutter and the audreyr/cookiecutter-pypackage project template.

    +
    2. +

  2. Install the required dependencies:

    +
    pip install -r requirements.txt
+
    +
    3. +

  3. Configure your XPlane installation and simulator settings as needed.

    4. +
+
+
+

Usage#

+
    +

  1. Launch the simulator by running:

    +
    python main.py
+
    - - -
- +

If you want to run a particular block of code, replace the skip by run.

+ +

  • Explore the simulation environment, adjust settings, and start flying!

    • + + +
    +

    Contributing#

    +

    We welcome contributions from the community to improve and expand this simulator project. If you’re interested in contributing, please follow our Contribution Guidelines.

    +
    +
    +

    Code of Conduct#

    +

    Please review and adhere to our Code of Conduct when participating in our community. We strive to maintain a respectful and inclusive environment for everyone.

    +
    +
    +

    License#

    +

    This project is licensed under the MIT License, which means you are free to use, modify, and distribute the code in your projects.

    +
    +

    We hope you enjoy using the SHaSTA. Happy flying!

    +
    + + + + +
    +
    - - -
    - -
    -

    - - © Copyright 2020, Hemanth Manjunatha - -

    -
    - - - - Built with Sphinx using a - - theme - - provided by Read the Docs. - - +
    +
    + + On this page + +
    +
    +
    + +
    - - - + + +
    - - - - - - - - - - +
    + + + + \ No newline at end of file diff --git a/docs/html/search.html b/docs/html/search.html index f10c0ac..95f8e13 100644 --- a/docs/html/search.html +++ b/docs/html/search.html @@ -1,227 +1,271 @@ + + + + + + + Search - SHaSTA 0.1.0 documentation + + + + + - - - - + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + + + +
    +
    +
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    SHaSTA 0.1.0 documentation
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"shasta.preprocessing.utils.extract_path_info"]], "save_buildings_map() (in module shasta.preprocessing.utils)": [[10, "shasta.preprocessing.utils.save_buildings_map"]], "shasta.preprocessing.utils": [[10, "module-shasta.preprocessing.utils"]], "formation (class in shasta.primitives.formation)": [[11, "shasta.primitives.formation.Formation"]], "calculate_vel() (formation method)": [[11, "shasta.primitives.formation.Formation.calculate_vel"], [12, "shasta.primitives.Formation.calculate_vel"]], "execute() (formation method)": [[11, "shasta.primitives.formation.Formation.execute"], [12, "shasta.primitives.Formation.execute"]], "shasta.primitives.formation": [[11, "module-shasta.primitives.formation"]], "formation (class in shasta.primitives)": [[12, "shasta.primitives.Formation"]], "pathplanning (class in shasta.primitives)": [[12, "shasta.primitives.PathPlanning"]], "execute() (pathplanning method)": [[12, "shasta.primitives.PathPlanning.execute"], [13, "shasta.primitives.path_planning.PathPlanning.execute"]], "find_path() (pathplanning method)": [[12, "shasta.primitives.PathPlanning.find_path"], [13, "shasta.primitives.path_planning.PathPlanning.find_path"]], "linear_refine_implicit() (pathplanning method)": [[12, "shasta.primitives.PathPlanning.linear_refine_implicit"], [13, "shasta.primitives.path_planning.PathPlanning.linear_refine_implicit"]], "shasta.primitives": [[12, "module-shasta.primitives"]], "pathplanning (class in shasta.primitives.path_planning)": [[13, "shasta.primitives.path_planning.PathPlanning"]], "shasta.primitives.path_planning": [[13, "module-shasta.primitives.path_planning"]], "get_initial_positions() (in module shasta.utils)": [[14, "shasta.utils.get_initial_positions"]], "shasta.utils": [[14, "module-shasta.utils"]], "plot_nodes() (in module shasta.visualize)": [[15, "shasta.visualize.plot_nodes"]], "shasta.visualize": [[15, "module-shasta.visualize"]], "world (class in shasta.world)": [[16, "shasta.world.World"]], "change_camera_position() (world method)": [[16, "shasta.world.World.change_camera_position"]], "load_world_model() (world method)": [[16, "shasta.world.World.load_world_model"]], "shasta.world": [[16, "module-shasta.world"]], "spawn_actor() (world method)": [[16, "shasta.world.World.spawn_actor"]]}}) \ No newline at end of file diff --git a/docs/html/usage.html b/docs/html/usage.html index 60de259..754892c 100644 --- a/docs/html/usage.html +++ b/docs/html/usage.html @@ -1,227 +1,268 @@ + + + + + + + + + Usage - SHaSTA 0.1.0 documentation + + + + + + - - - - + + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + + + +
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    UsageΒΆ

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    Usage#

    To use shasta in a project:

    import shasta
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    - -
    -

    - - © Copyright 2020, Hemanth Manjunatha - -

    -
    - - - - Built with Sphinx using a - - theme - - provided by Read the Docs. - - - -
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    - - - - - - - - - - + + + + + \ No newline at end of file diff --git a/docs/index.rst b/docs/index.rst index 3cf3bb5..ba4a499 100644 --- a/docs/index.rst +++ b/docs/index.rst @@ -7,8 +7,8 @@ Welcome to shasta's documentation! readme installation - usage contributing + code_of_conduct history Indices and tables diff --git a/docs/installation.rst b/docs/installation.rst index 729dd20..edbe5a3 100644 --- a/docs/installation.rst +++ b/docs/installation.rst @@ -34,18 +34,9 @@ You can either clone the public repository: $ git clone git://github.com/hemumanju/shasta -Or download the `tarball`_: - -.. code-block:: console - - $ curl -OJL https://github.com/hemumanju/shasta/tarball/master - -Once you have a copy of the source, you can install it with: - .. code-block:: console $ python setup.py install .. _Github repo: https://github.com/hemumanju/shasta -.. _tarball: https://github.com/hemumanju/shasta/tarball/master diff --git a/docs/readme.rst b/docs/readme.rst index 72a3355..95cacbc 100644 --- a/docs/readme.rst +++ b/docs/readme.rst @@ -1 +1,4 @@ -.. include:: ../README.rst +Welcome +=========== +.. include:: ../README.md + :parser: myst_parser.sphinx_