GSE.py initial commit. Not adding IMU_Estimator to GSE class, it shou… #44
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…ld be part of exoboot class and updated during the sensor reading portion (pre_iterate).
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| class GSE: | ||
| def __init__(self, topics=["fz_left", "fz_right"], publisher_ip=VICON_IP, timeout_ms=5, stride_period_init=1.2, filter_size=10, hs_threshold = 80, to_threshold = 30): |
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Can you add docstrings to each of these methods?
| self.subscribers = {} | ||
| self.estimators = {} | ||
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| for topic in self.topics: |
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Thoughts on making this flexible to the exo side that is active? If someone is walking with just the left exo, then we wouldn't need to subscribe to the right side.. But if we have to make the publisher side flexible to this, then its fine as is!
| from src.settings.constants import VICON_IP | ||
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| class GSE: |
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Does this GSE class manage the BertecEstimator? Can you explain a little as to why this class necessary since most of the arguments are passed to the Bertec_estimator? It might be better to make this into a function that is responsible for setting up subscribers!
nundinir
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nundinir
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Overall looks good! Biggest question is: how is this class different from the Bertec_Estimator?
…ld be part of exoboot class and updated during the sensor reading portion (pre_iterate).