def __init__(self, dimState, dimCommand, delay, arm):
'''
Initializes parameters to uses the function implemented below
inputs: -dimCommand: dimension of the muscular activation vector U, int (here, 6)
-delay: delay in time steps with which we give the observation to the filter, int
-arm, armModel, class object
'''
self.name = "StateEstimator"
self.dimState = dimState
self.dimCommand = dimCommand
self.delay = delay
self.arm = arm
para= NeuraNetParameter(1,"")
self.regression = NeuralNetTF(para)
self.regression.setTheta(np.loadtxt(para.path+para.thetaFile+".theta"))
self.regressionInput=np.empty((para.inputDim))
