abstract handler class

Author: sWintermoor

src/bitbots_rl_walk/handler/command_handler.py

@@ -1,7 +1,9 @@
 import numpy as np
 
+from bitbots_rl_walk.handler.handler import Handler
 
-class CommandHandler:
+
+class CommandHandler(Handler):
     def __init__(self):
         self._cmd_vel = None
 

src/bitbots_rl_walk/handler/gravity_handler.py

@@ -2,8 +2,10 @@
 from transforms3d.euler import euler2mat
 from transforms3d.quaternions import quat2mat
 
+from bitbots_rl_walk.handler.handler import Handler
 
-class GravityHandler:
+
+class GravityHandler(Handler):
     def __init__(self):
         self._imu_data = None
         self._gravity = None

src/bitbots_rl_walk/handler/gyro_handler.py

@@ -1,7 +1,9 @@
 import numpy as np
 
+from bitbots_rl_walk.handler.handler import Handler
 
-class GyroHandler:
+
+class GyroHandler(Handler):
     def __init__(self):
         self._imu_data = None
 

src/bitbots_rl_walk/handler/handler.py

@@ -0,0 +1,7 @@
+# Abstract class
+class Handler:
+    def __init__(self):
+        pass
+
+    def get_data(self):
+        pass

src/bitbots_rl_walk/handler/joint_handler.py

@@ -1,6 +1,7 @@
 import numpy as np
 
 from bitbots_msgs.msg import JointCommand
+from bitbots_rl_walk.handler.handler import Handler
 
 ORDERED_RELEVANT_JOINT_NAMES = [
     "RShoulderPitch",
@@ -48,7 +49,7 @@
 )
 
 
-class JointHandler:
+class JointHandler(Handler):
     def __init__(self, ordered_relevant_joint_names=ORDERED_RELEVANT_JOINT_NAMES, walkready_state=WALKREADY_STATE):
         self._ordered_relevant_joint_names = ordered_relevant_joint_names
         self._walkready_state = walkready_state