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))