step.motion.resync_dsl

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

Source: resync.py

Classes

ResyncAtStartPoseBuilder

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

Functions

resync_at_start_pose([expected_x_cm, expected_y_cm, ...])

Inject a direct absolute pose observation without additional motion.

Module Contents

class step.motion.resync_dsl.ResyncAtStartPoseBuilder

Bases: raccoon.step.step_builder.StepBuilder

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

expected_x_cm(value: float | None)
expected_y_cm(value: float | None)
expected_theta_deg(value: float | None)
snap_axes(value: tuple[bool, bool, bool])
sigma_xy_cm(value: float)
sigma_theta_deg(value: float)
step.motion.resync_dsl.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.

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.

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)