pyrcf.components.state_estimators
=================================

.. py:module:: pyrcf.components.state_estimators

.. autoapi-nested-parse::

   Defines state estimators that can be used in the control loop.
   Currently, because we operate only in simulation, we directly use
   data from the simulator and do not use any custom state estimation
   algorithms.



Submodules
----------

.. toctree::
   :maxdepth: 1

   /autoapi/pyrcf/components/state_estimators/state_estimator_base/index


Classes
-------

.. autoapisummary::

   pyrcf.components.state_estimators.StateEstimatorBase
   pyrcf.components.state_estimators.DummyStateEstimator


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

.. py:class:: StateEstimatorBase

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


   Base class defining the interface for all state estimators to be used in the control loop.


   .. py:method:: update_robot_state_with_state_estimates(robot_state: pyrcf.core.types.RobotState, t: float = None, dt: float = None) -> pyrcf.core.types.RobotState
      :abstractmethod:


      The main state estimator update method to be called in the loop.

      This method will be called after the proprioceptive data in RobotState is retreived by
      calling the `RobotInterface->read()` method.

      This method should be implemented by any state estimator implementation.

      :param robot_state: The current state information from the robot.
      :type robot_state: RobotState
      :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

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

      :returns:

                Return the same robot state object with the fields for
                    robot_state.state_estimates filled appropriately.
      :rtype: RobotState



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

   Bases: :py:obj:`StateEstimatorBase`


   Dummy state estimator class for testing pipeline.


   .. py:attribute:: _squawk


   .. py:method:: update_robot_state_with_state_estimates(robot_state: pyrcf.core.types.RobotState, t: float = None, dt: float = None) -> pyrcf.core.types.RobotState

      This is a dummy state estimator that does nothing at all and returns the original state
      object back as is.