pyrcf.control_loop.minimal_ctrl_loop
====================================

.. py:module:: pyrcf.control_loop.minimal_ctrl_loop


Classes
-------

.. autoapisummary::

   pyrcf.control_loop.minimal_ctrl_loop.MinimalCtrlLoop


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

.. py:class:: MinimalCtrlLoop(robot_interface: pyrcf.components.robot_interfaces.robot_interface_base.RobotInterface, state_estimator: pyrcf.components.state_estimators.state_estimator_base.StateEstimatorBase, controller: pyrcf.components.controllers.controller_base.ControllerBase, local_planner: pyrcf.components.local_planners.LocalPlannerBase, global_planner: pyrcf.components.global_planners.global_planner_base.GlobalMotionPlannerBase, verbose: bool = True)

   Bases: :py:obj:`pyrcf.control_loop.simple_managed_ctrl_loop.SimpleManagedCtrlLoop`


   A minimal control loop with only 1 controller and 1 local planner.

   The run method runs the following in a loop of specified frequency.

   1. read robot state from robot interface
   2. update robot state with state estimates from state estimator
   3. get global plan message from global planner / user interface
   4. generate local plan using the global plan message
   5. compute control command to track the local plan
   6. write control command to robot


   .. py:attribute:: controller_manager


   .. py:method:: useWithDefaults(robot_interface: pyrcf.components.robot_interfaces.robot_interface_base.RobotInterface, controller: pyrcf.components.controllers.controller_base.ControllerBase, global_planner: pyrcf.components.global_planners.global_planner_base.GlobalMotionPlannerBase = None, local_planner: pyrcf.components.local_planners.LocalPlannerBase = BlindForwardingPlanner(), state_estimator: pyrcf.components.state_estimators.state_estimator_base.StateEstimatorBase = DummyStateEstimator(squawk=False), verbose: bool = True) -> MinimalCtrlLoop
      :classmethod:


      Create a control loop default values for planners and state estimators.

      Default local planner: BlindForwardingPlanner
      Default global planner: Try JoystickGlobalPlannerInterface; fallback KeyboardGlobalPlannerInterface
      Default state estimator: DummyStateEstimator

      :param robot_interface: The robot interface to use in the loop.
      :type robot_interface: RobotInterface
      :param controller: The controller to be used.
      :type controller: ControllerBase
      :param global_planner: The global planner to use. If None
                             provided, will try to first find a joystick, and then creates a keyboard interface
                             if joystick is not found.
      :type global_planner: GlobalMotionPlannerBase, optional
      :param local_planner: Local planner to use. Defaults to
                            BlindForwardingPlanner.
      :type local_planner: LocalPlannerBase, optional
      :param state_estimator: State estimator to use. Defaults to
                              DummyStateEstimator(squawk=False).
      :type state_estimator: StateEstimatorBase, optional

      :returns:

                returns a valid control loop object with planners and state estimators
                    automatically defined.
      :rtype: MinimalCtrlLoop