def init(self, boot_spec):
DerivAgentRobust.init(self, boot_spec)
shape = boot_spec.get_observations().shape()
if len(shape) != 1:
msg = 'This agent only works with 1D signals'
raise UnsupportedSpec(msg)
self.estimator = instantiate_spec(self.estimator_spec)
if not isinstance(self.estimator, BDSEEstimatorInterface):
msg = ('Expected a BDSEEstimatorInterface, got %s'
% describe_type(self.estimator))
raise ValueError(msg)
self.commands_spec = boot_spec.get_commands()
def publish(self, pub):
with pub.subsection('estimator') as sub:
self.estimator.publish(sub)
DerivAgentRobust.publish(self, pub)
def __init__(self, servo, estimator, **others):
print('Servo: %r' % servo)
DerivAgentRobust.__init__(self, **others)
self.servo = servo
self.estimator_spec = estimator
