pyrcf.components.controller_manager.command_accumulators
========================================================

.. py:module:: pyrcf.components.controller_manager.command_accumulators

.. autoapi-nested-parse::

   Accumulation policies will decide how control commands from multiple controllers (if present)
   in the same control loop will be combined before sending them to the robot.



Submodules
----------

.. toctree::
   :maxdepth: 1

   /autoapi/pyrcf/components/controller_manager/command_accumulators/cmd_accumulation_policies/index


Classes
-------

.. autoapisummary::

   pyrcf.components.controller_manager.command_accumulators.CommandAccumulatorBase
   pyrcf.components.controller_manager.command_accumulators.SimpleCmdOverride


Package Contents
----------------

.. py:class:: CommandAccumulatorBase

   Bases: :py:obj:`abc.ABC`


   Accumulation policies are functions that takes in commands from two controllers
   and decides how to generate a single command to be sent to the robot.

   NOTE: this should ideally be done at joint level, but we are simplifying by doing
   accumulation at robot-level instead.


   .. py:method:: accumulate(commands=List[RobotCmd]) -> pyrcf.core.types.robot_io.RobotCmd
      :abstractmethod:


      Accumulate the specified commands into a single command to be sent to the robot.

      :param commands: the robot commands from different controllers (in sequence).
      :type commands: List[RobotCmd]

      :returns: The final 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:class:: SimpleCmdOverride

   Bases: :py:obj:`CommandAccumulatorBase`


   This accumulation policy simply overrides the command from all controllers with the latest
   one.


   .. py:method:: accumulate(commands=List[RobotCmd]) -> pyrcf.core.types.robot_io.RobotCmd

      Accumulate the specified commands into a single command to be sent to the robot.

      :param commands: the robot commands from different controllers (in sequence).
      :type commands: List[RobotCmd]

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

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