step.motion.resync_dsl
======================

.. py:module:: step.motion.resync_dsl

.. autoapi-nested-parse::

   Auto-generated step builders and DSL functions — DO NOT EDIT.

   Source: resync.py



Classes
-------

.. autoapisummary::

   step.motion.resync_dsl.ResyncAtStartPoseBuilder


Functions
---------

.. autoapisummary::

   step.motion.resync_dsl.resync_at_start_pose


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

.. py:class:: ResyncAtStartPoseBuilder

   Bases: :py:obj:`raccoon.step.step_builder.StepBuilder`


   Builder for ResyncAtStartPose. Auto-generated — do not edit.


   .. py:method:: expected_x_cm(value: float | None)


   .. py:method:: expected_y_cm(value: float | None)


   .. py:method:: expected_theta_deg(value: float | None)


   .. py:method:: snap_axes(value: tuple[bool, bool, bool])


   .. py:method:: sigma_xy_cm(value: float)


   .. py:method:: sigma_theta_deg(value: float)


.. py:function:: resync_at_start_pose(expected_x_cm: float | None = None, expected_y_cm: float | None = None, expected_theta_deg: float | None = None, snap_axes: tuple[bool, bool, bool] = (True, True, True), sigma_xy_cm: float = 1.0, sigma_theta_deg: float = 5.0)

   Inject a direct absolute pose observation without additional motion.

   Reads the robot's current odometry pose (or uses supplied override values)
   and feeds it as an absolute-pose observation into the localization filter.
   Use this at the start of a run to anchor the EKF to the known start pose.

   :param expected_x_cm: Override for the expected X position in cm. If None, the robot's current odometric X is used.
   :param expected_y_cm: Override for the expected Y position in cm. If None, the robot's current odometric Y is used.
   :param expected_theta_deg: Override for the expected heading in degrees. If None, the robot's current odometric heading is used.
   :param snap_axes: Which axes (x, y, theta) to include in the observation. Defaults to (True, True, True) — all three.
   :param sigma_xy_cm: Position uncertainty (standard deviation) in cm.
   :param sigma_theta_deg: Heading uncertainty (standard deviation) in degrees.

   :returns: A ResyncAtStartPoseBuilder (chainable via ``.expected_x_cm()``, ``.expected_y_cm()``, ``.expected_theta_deg()``, ``.snap_axes()``, ``.sigma_xy_cm()``, ``.sigma_theta_deg()``, ``.on_anomaly()``, ``.skip_timing()``).

   Example::

       from raccoon.step.motion import resync_at_start_pose

       resync_at_start_pose(expected_x_cm=0.0, expected_y_cm=0.0, expected_theta_deg=0.0)