pyrcf.components.state_estimators

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

pyrcf.components.state_estimators.state_estimator_base

Classes

`StateEstimatorBase`	Base class defining the interface for all state estimators to be used in the control loop.
`DummyStateEstimator`	Dummy state estimator class for testing pipeline.

Package Contents

class pyrcf.components.state_estimators.StateEstimatorBase

Bases: pyrcf.components.pyrcf_component.PyRCFComponent

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

abstract update_robot_state_with_state_estimates(robot_state: pyrcf.core.types.RobotState, t: float = None, dt: float = None) → pyrcf.core.types.RobotState

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.

Parameters:

robot_state (RobotState) – The current state information from the robot.
t (float, optional) – the current time signature of the control loop. Defaults to None (controllers may or may not need this).
dt (float, optional) – the time since the last control loop. Defaults to None (controllers may or may not need this).

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.

Return type:

RobotState

class pyrcf.components.state_estimators.DummyStateEstimator(squawk: bool = True)

Bases: StateEstimatorBase

Dummy state estimator class for testing pipeline.

_squawk

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.