def discrete_parameter_estimation_cb(self, req):
skel = U.graph_skeleton_from_ros(req.graph)
skel.toporder()
data = U.graph_states_dict_from_ros(req.states)
res = self.learner.discrete_mle_estimateparams(skel, data)
return DiscreteParameterEstimationResponse(
U.discrete_nodes_to_ros(res.Vdata))
def lg_parameter_estimation_cb(self, req):
skel = U.graph_skeleton_from_ros(req.graph)
skel.toporder()
data = U.graph_states_dict_from_ros(req.states)
res = self.learner.lg_mle_estimateparams(skel, data)
rospy.logdebug("parameter estimation: %s" % res.Vdata)
return LinearGaussianParameterEstimationResponse(
U.linear_gaussian_nodes_to_ros(res.Vdata))
