Perception & Arbitration API Reference

goapauto.models.sensors.SensorManager

Orchestrates multiple Sensor instances to update WorldState.

manager = SensorManager()
manager.add_sensor(MySensor())
manager.update_state(state)

Methods

• add_sensor(sensor: Sensor): Register a sensor.
• update_state(state: WorldState) -> WorldState: Runs all sensors and updates the state.

goapauto.models.sensors.Sensor (Abstract)

Base class for sensors. Implement sense() -> Dict[str, Any].

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goapauto.models.goal_arbitrator.GoalArbitrator

Selects the highest priority satisfiable goal from a list.

arbitrator = GoalArbitrator(goals=[goal1, goal2])
selected_goal = arbitrator.select_goal(state)

Methods

• add_goal(goal: Goal): Add a goal to manage.
• remove_goal(name: str): Remove a goal by its name.
• select_goal(state: WorldState) -> Optional[Goal]: Returns best valid goal.

Configuration

The GoalArbitrator accepts a custom GoalSelectionStrategy in its constructor. The default is PriorityGoalStrategy (lowest priority number wins).