upkie 9.0.0
Open-source wheeled biped robots
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#include <ObserverPipeline.h>
Public Member Functions | |
void | reset (const Dictionary &config) |
Reset observers. More... | |
void | append_observer (std::shared_ptr< Observer > observer) |
Append an observer at the end of the pipeline. More... | |
std::vector< std::shared_ptr< Observer > > & | observers () |
Observers of the pipeline. Order matters. | |
void | run (Dictionary &observation) |
Run observer pipeline on an observation dictionary. More... | |
Observer pipeline.
An observer pipeline is a list of observers, to be executed in that order. Observers further down the pipeline may depend on the results of those that precede them, which are written to the observation dictionary. The pipeline is thus assumed to be topologically sorted.