step.motion.resync

Minimal resync steps that inject observations into the localization filter.

Classes

ResyncAtStartPose	Inject a direct absolute pose observation without additional motion.
FindLineResync	Drive until an IR sensor sees a line, then inject a localization observation.
AlignToWallResync	Run wall-align, then inject a wall-based observation into localization.

Functions

resync_at_start_pose(, sigma_xy_cm, sigma_theta_deg)
find_line_resync(, sigma_xy_cm, sigma_theta_deg, ...)
align_to_wall_resync(, sigma_xy_cm, sigma_theta_deg, ...)

Module Contents

class step.motion.resync.ResyncAtStartPose(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)

Bases: step.Step

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.

Parameters:

• expected_x_cm – Override for the expected X position in cm. If None, the robot’s current odometric X is used.

• expected_y_cm – Override for the expected Y position in cm. If None, the robot’s current odometric Y is used.

• expected_theta_deg – Override for the expected heading in degrees. If None, the robot’s current odometric heading is used.

• snap_axes – Which axes (x, y, theta) to include in the observation. Defaults to (True, True, True) — all three.

• sigma_xy_cm – Position uncertainty (standard deviation) in cm.

• sigma_theta_deg – Heading uncertainty (standard deviation) in degrees.

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)

expected_x_cm = None

expected_y_cm = None

expected_theta_deg = None

snap_axes = (True, True, True)

sigma_xy_cm = 1.0

sigma_theta_deg = 5.0

class step.motion.resync.FindLineResync(sensor: raccoon.sensor_ir.IRSensor, sensor_position: raccoon.map.SensorOffset, *, expected_x_cm: float | None = None, expected_y_cm: float | None = None, expected_theta_deg: float | None = None, snap_axes: tuple[bool, bool, bool] = (False, True, False), sigma_xy_cm: float = 1.0, sigma_theta_deg: float = 5.0, line_sigma_cm: float = 0.75, threshold: float = 0.7, forward_speed_mps: float = 0.15, strafe_speed_mps: float = 0.0, timeout_s: float = 3.0)

Bases: step.motion.motion_step.MotionStep

Drive until an IR sensor sees a line, then inject a localization observation.

sensor

sensor_position

expected_x_cm = None

expected_y_cm = None

expected_theta_deg = None

snap_axes = (False, True, False)

sigma_xy_cm = 1.0

sigma_theta_deg = 5.0

line_sigma_cm = 0.75

threshold = 0.7

forward_speed_mps = 0.15

strafe_speed_mps = 0.0

timeout_s = 3.0

on_start(robot: raccoon.robot.api.GenericRobot) → None

on_update(robot: raccoon.robot.api.GenericRobot, dt: float) → bool

class step.motion.resync.AlignToWallResync(direction: step.motion.wall_align.WallDirection = WallDirection.FORWARD, *, 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, wall_sigma_cm: float = 0.75, sensor_position: SensorOffset | None = None, speed: float = 1.0, accel_threshold: float = 0.5, settle_duration: float = 0.2, max_duration: float = 5.0, grace_period: float = 0.3)

Bases: step.Step

Run wall-align, then inject a wall-based observation into localization.

direction

expected_x_cm = None

expected_y_cm = None

expected_theta_deg = None

snap_axes = (True, True, True)

sigma_xy_cm = 1.0

sigma_theta_deg = 5.0

wall_sigma_cm = 0.75

sensor_position = None

required_resources() → frozenset[str]

Return the hardware resources this step requires exclusive access to.

For leaf steps (drive, motor, servo), return the resources this step directly uses. Composite steps override collected_resources instead to include children — required_resources stays empty for composites because they don’t touch hardware themselves.

step.motion.resync.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) → ResyncAtStartPose

step.motion.resync.find_line_resync(sensor: raccoon.sensor_ir.IRSensor, sensor_position: raccoon.map.SensorOffset, *, expected_x_cm: float | None = None, expected_y_cm: float | None = None, expected_theta_deg: float | None = None, snap_axes: tuple[bool, bool, bool] = (False, True, False), sigma_xy_cm: float = 1.0, sigma_theta_deg: float = 5.0, line_sigma_cm: float = 0.75, threshold: float = 0.7, forward_speed_mps: float = 0.15, strafe_speed_mps: float = 0.0, timeout_s: float = 3.0) → FindLineResync

step.motion.resync.align_to_wall_resync(*, direction: step.motion.wall_align.WallDirection = WallDirection.FORWARD, 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, wall_sigma_cm: float = 0.75, sensor_position: SensorOffset | None = None, speed: float = 1.0, accel_threshold: float = 0.5, settle_duration: float = 0.2, max_duration: float = 5.0, grace_period: float = 0.3) → AlignToWallResync