add docs for simulationsettings

robot_sf/sim/sim_config.py

@@ -7,33 +7,71 @@
 
 @dataclass
 class SimulationSettings:
+    """
+    Class to hold the settings for a simulation.
+
+    This class contains various settings that control the behavior of the simulation,
+    such as the simulation time, the time per step, the pedestrian speed multiplier, the
+    difficulty level, the maximum number of pedestrians per group, the pedestrian radius,
+    the goal radius, the number of steps to stack in observations, whether to use the next
+    goal in the path as the current goal, the pedestrian-robot force configuration, and the
+    pedestrian density by difficulty level.
+
+    After initialization, the `__post_init__` method is called to validate the settings.
+    """
+
+    # Simulation time in seconds
     sim_time_in_secs: float = 200.0
+    # Time per step in seconds
     time_per_step_in_secs: float = 0.1
+    # Pedestrian speed multiplier
     peds_speed_mult: float = 1.3
+    # Difficulty level
     difficulty: int = 0
+    # Maximum number of pedestrians per group
     max_peds_per_group: int = 6
+    # Pedestrian radius
     ped_radius: float = 0.4
+    # Goal radius
     goal_radius: float = 1.0
+    # Number of steps to stack in observations
     stack_steps: int = 3
+    # Whether to use the next goal in the path as the current goal
     use_next_goal: bool = True
+    # Pedestrian-robot force configuration
     prf_config: PedRobotForceConfig = PedRobotForceConfig(is_active=True)
+    # Pedestrian density by difficulty level
     ped_density_by_difficulty: List[float] = field(default_factory=lambda: [0.01, 0.02, 0.04, 0.08])
 
     def __post_init__(self):
+        """
+        Validate the simulation settings.
+
+        This method is called after the object is initialized. It checks that all the
+        settings are valid and raises a ValueError if any of them are not.
+        """
+        # Check that the simulation time is positive
         if self.sim_time_in_secs <= 0:
             raise ValueError("Simulation length for episodes mustn't be negative or zero!")
+        # Check that the time per step is positive
         if self.time_per_step_in_secs <= 0:
             raise ValueError("Step time mustn't be negative or zero!")
+        # Check that the pedestrian speed multiplier is positive
         if self.peds_speed_mult <= 0:
             raise ValueError("Pedestrian speed mustn't be negative or zero!")
+        # Check that the maximum number of pedestrians per group is positive
         if self.max_peds_per_group <= 0:
             raise ValueError("Maximum pedestrians per group mustn't be negative or zero!")
+        # Check that the pedestrian radius is positive
         if self.ped_radius <= 0:
             raise ValueError("Pedestrian radius mustn't be negative or zero!")
+        # Check that the goal radius is positive
         if self.goal_radius <= 0:
             raise ValueError("Goal radius mustn't be negative or zero!")
+        # Check that the difficulty level is within the valid range
         if not 0 <= self.difficulty < len(self.ped_density_by_difficulty):
             raise ValueError("No pedestrian density registered for selected difficulty level!")
+        # Check that the pedestrian-robot force configuration is specified
         if not self.prf_config:
             raise ValueError("Pedestrian-Robot-Force settings need to be specified!")