pyrcf.components.robot_interfaces
=================================

.. py:module:: pyrcf.components.robot_interfaces

.. autoapi-nested-parse::

   Defines interface for robots that can be used in the control loop.

   Also has a submodule for simulated robots.



Subpackages
-----------

.. toctree::
   :maxdepth: 1

   /autoapi/pyrcf/components/robot_interfaces/simulation/index


Submodules
----------

.. toctree::
   :maxdepth: 1

   /autoapi/pyrcf/components/robot_interfaces/robot_interface_base/index
   /autoapi/pyrcf/components/robot_interfaces/robot_interface_with_pinocchio/index


Classes
-------

.. autoapisummary::

   pyrcf.components.robot_interfaces.RobotInterface
   pyrcf.components.robot_interfaces.DummyRobot


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

.. py:class:: RobotInterface

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


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


   .. py:method:: read() -> pyrcf.core.types.RobotState
      :abstractmethod:


      Get the latest state from the robot.

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

      :returns: the latest state of the robot.
      :rtype: RobotState



   .. py:method:: write(cmd: pyrcf.core.types.RobotCmd) -> bool
      :abstractmethod:


      Send the specified commands to the robot.

      :param cmd: the command object as computed by the controller in the loop.
      :type cmd: RobotCmd

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

      :returns: True if sending command was succesful.
      :rtype: bool



   .. py:method:: activate() -> bool

      This method will be called in a loop until it returns true, before the control loop
      starts. Override in child class as required.



   .. py:method:: deactivate() -> bool

      This method will be called in a loop until it returns true, after the control loop is
      stopped, and before shutdown of this class is called. Override in child class as required.



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

   Bases: :py:obj:`RobotInterface`


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


   .. py:attribute:: _squawk


   .. py:method:: read() -> pyrcf.core.types.RobotState

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



   .. py:method:: write(cmd: pyrcf.core.types.RobotCmd) -> bool

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