pyrcf.components.local_planners.local_planner_base
==================================================

.. py:module:: pyrcf.components.local_planners.local_planner_base


Classes
-------

.. autoapisummary::

   pyrcf.components.local_planners.local_planner_base.LocalPlannerBase
   pyrcf.components.local_planners.local_planner_base.DummyLocalPlanner


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

.. py:class:: LocalPlannerBase

   Bases: :py:obj:`pyrcf.components.pyrcf_component.PyRCFComponent`


   Base class defining the interface for all local planners that can be used in the control
   loop.


   .. py:method:: generate_local_plan(robot_state: pyrcf.core.types.RobotState, global_plan: pyrcf.core.types.GlobalMotionPlan, t: float, dt: float) -> pyrcf.core.types.LocalMotionPlan
      :abstractmethod:


      The main local plan generation method to be called in the loop.

      This method will be called after the global plan is generated in the loop.

      This method should be implemented by any local planner implementation.

      :param robot_state: The current state information from the robot.
      :type robot_state: RobotState
      :param global_plan: the latest global plan generated by the global planner
                          used in the loop.
      :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
      :param dt: the time since the last control loop. Defaults to None
                 (controllers may or may not need this).
      :type dt: float, optional

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

      :returns: The output local plan to be used by the controller in this iteration.
      :rtype: LocalMotionPlan



.. py:class:: DummyLocalPlanner(squawk: bool = True)

   Bases: :py:obj:`LocalPlannerBase`


   Dummy local planner for testing pipeline.


   .. py:attribute:: _squawk
      :value: True



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

      This is a dummy method for sanity checking the control loop.