`kompass.components._modes`¶

Shared enums for the Controller component and its helpers.

Module Contents¶

`CmdPublishType`	Control command publishing method:
`FrameMode`	Frame in which the controller reasons about the world.
`PathControlStatus`	Outcome of a single `Controller._path_control` step.

class kompass.components._modes.CmdPublishType¶

Bases: kompass.utils.StrEnum

Control command publishing method:

Value	Description
TWIST_SEQUENCE (Literal “Sequence”)	the controller publishes a Twist message in the same thread running the control algorithm. If a series of commands is computed (up to the control horizon), the controller publishes the commands one by one before running the control algorithm again
TWIST_PARALLEL (Literal “Parallel”)	the controller handles publishing a Twist message in a new thread. If a series of commands is computed (up to the control horizon), the controller publishes the commands one by one in parallel while running the control algorithm again
TWIST_ARRAY (Literal “Array”)	the controller publishes a TwistArray msg of all the computed control commands (up to the control horizon)

class kompass.components._modes.FrameMode¶

Bases: kompass.utils.StrEnum

Frame in which the controller reasons about the world.

GLOBAL: robot state and tracked targets live in the world frame. Requires a valid odom→world transform (or matching frames).
LOCAL: robot state is ignored; sensor data and targets are treated as robot-relative. Only available in vision follower mode.

class kompass.components._modes.PathControlStatus¶

Bases: kompass.utils.StrEnum

Outcome of a single Controller._path_control step.