pyrcf.components.controller_manager.simple_controller_manager
=============================================================

.. py:module:: pyrcf.components.controller_manager.simple_controller_manager


Classes
-------

.. autoapisummary::

   pyrcf.components.controller_manager.simple_controller_manager.SimpleControllerManager


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

.. py:class:: SimpleControllerManager(agents: List[pyrcf.components.agents.agent_base.AgentBase] = None, command_accumulation_policy: pyrcf.components.controller_manager.command_accumulators.cmd_accumulation_policies.CommandAccumulatorBase = SimpleCmdOverride())

   Bases: :py:obj:`pyrcf.components.controller_manager.controller_manager_base.ControllerManagerBase`


   A simple controller manager that naively performs sequential updates of all agents it
   manages.


   .. py:method:: update(robot_state: pyrcf.core.types.RobotState, global_plan: pyrcf.core.types.GlobalMotionPlan, t: float, dt: float) -> pyrcf.core.types.RobotCmd

      Run one update step of all the 'agents' managed by this manager.

      :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 based on the
                    accumulation policy used by this manager.
      :rtype: RobotCmd

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