pyrcf.components.agents.planner_controller_agent
================================================

.. py:module:: pyrcf.components.agents.planner_controller_agent


Classes
-------

.. autoapisummary::

   pyrcf.components.agents.planner_controller_agent.PlannerControllerAgent


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

.. py:class:: PlannerControllerAgent(local_planner: pyrcf.components.local_planners.LocalPlannerBase, controller: pyrcf.components.controllers.ControllerBase)

   Bases: :py:obj:`pyrcf.components.agents.agent_base.AgentBase`


   A simple implementation of Agent using a local planner object and controller.

   This agent simply calls the local planner update and controller update steps in sequence.


   .. py:attribute:: local_planner


   .. py:attribute:: controller


   .. py:attribute:: _latest_local_plan
      :value: None



   .. py:attribute:: _latest_ctrl_cmd
      :value: None



   .. py:method:: get_action(robot_state: pyrcf.core.types.RobotState, global_plan: pyrcf.core.types.GlobalMotionPlan, t: float = None, dt: float = None) -> pyrcf.core.types.RobotCmd

      Compute the control command to be executed given the current state and the global plan.

      :param robot_state: Current robot state. This is equivalent to 'observation' in
                          standard learning-based agents.
      :type robot_state: RobotState
      :param global_plan: The reference global plan to follow.
      :type global_plan: GlobalMotionPlan
      :param t: the current time signature of the control loop. Defaults to None
                (controllers may or may not need this).
      :type t: float, optional
      :param dt: the time since the last control loop. Defaults to None
                 (controllers may or may not need this).
      :type dt: float, optional

      :returns: The output control command (action) to be sent to the robot.
      :rtype: RobotCmd

      :raises NotImplementedError: Raised if this method is not implemented by the child class.



   .. py:method:: get_latest_local_plan() -> pyrcf.core.types.LocalMotionPlan


   .. py:method:: get_latest_ctrl_cmd() -> pyrcf.core.types.RobotCmd


   .. py:method:: get_last_output() -> Tuple[pyrcf.core.types.LocalMotionPlan, pyrcf.core.types.RobotCmd]

      Should return the last computed outputs by this agent.

      :returns:

                Output local plan and control command from this agent.
                    NOTE: Either of these can be None, if the agent does not compute them.
      :rtype: Tuple[LocalMotionPlan, RobotCmd]



   .. py:method:: shutdown()

      Cleanly shutdown the PyRCF component. Override in child class if required. The
      base class implements an empty function.



   .. py:method:: get_class_info() -> str

      Override with custom string if needed.