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GSE.py initial commit. Not adding IMU_Estimator to GSE class, it shou… #44

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24 changes: 24 additions & 0 deletions GSE.py
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from src.exo.gait_state_estimator.forceplate.ZMQ_PubSub import Subscriber

from GSE_Bertec import Bertec_Estimator

from src.settings.constants import VICON_IP


class GSE:
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@nundinir nundinir May 27, 2025

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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!

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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@nundinir nundinir May 27, 2025

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Can you add docstrings to each of these methods?

self.topics = topics

self.subscribers = {}
self.estimators = {}

for topic in self.topics:
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@nundinir nundinir May 27, 2025 •
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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!

self.subscribers[topic] = Subscriber(publisher_ip=publisher_ip, topic_filter=topic, timeout_ms=timeout_ms)
self.estimators[topic] = Bertec_Estimator(self.subscribers[topic], stride_period_init=stride_period_init, filter_size=filter_size, hs_threshold=hs_threshold, to_threshold=to_threshold)

def link_to_exoboot(self, exoboot):
pass

def update(self):
for estimator in self.estimators.values():
estimator.update()