"""The leg controller class interface."""

from __future__ import absolute_import
from __future__ import division
from __future__ import print_function

import abc
from typing import Any


class LegController(object):  # pytype: disable=ignored-metaclass
  """Generates the leg control signal."""

  __metaclass__ = abc.ABCMeta

  @abc.abstractmethod
  def reset(self, current_time: float):
    """Resets the controller's internal state."""
    pass

  @abc.abstractmethod
  def update(self, current_time: float):
    """Updates the controller's internal state."""
    pass

  @abc.abstractmethod
  def get_action(self) -> Any:
    """Gets the control signal e.g. torques/positions for the leg."""
    pass