pyrcf.components.state_estimators.state_estimator_base

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

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.

class pyrcf.components.state_estimators.state_estimator_base.StateEstimatorBase

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.state_estimator_base.DummyStateEstimator(squawk: bool = True)

Dummy state estimator class for testing pipeline.

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.