upkie 6.1.0
Open-source wheeled biped robots
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Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
[detail level 12345]
 NupkieSoftware for wheeled-biped robots
 NcppC++ library to create new spines
 NactuationSend actions to actuators or simulators
 NbulletBullet utility functions used in the simulation interface
 CBulletInterfaceActuation interface for the Bullet simulator
 CImuDataData from the onboard inertial measurement unit (IMU)
 CImuUncertaintyUncertainty on IMU measurements
 CInterfaceBase class for actuation interfaces
 CMockInterfaceInterface whose internal state perfectly tracks commands
 CPi3HatInterfaceInterface to moteus controllers
 CServoLayoutMap between servos, their busses and the joints they actuate
 CServoPropertiesServo properties
 NexceptionsExceptions raised by this project
 CFilterErrorException for filter errors
 CObserverErrorException thrown when an observer fails
 CPositionCommandErrorException raised when an actuation command is incorrect
 CServoErrorException for filter errors
 CTypeErrorException raised when a deserialized object does not have the right type
 CUpkieErrorBase class for Upkie-related exceptions
 NobserversState observers available for Upkies
 CBaseOrientationObserve the orientation of the base frame relative to the world frame
 CFloorContactObserve contact between the wheels and the floor
 CHistoryObserverReport high-frequency history vectors to lower-frequency agents
 CObserverBase class for observers
 CObserverPipelineObserver pipeline
 CWheelContactObserve contact between a given wheel and the floor
 CWheelOdometryObserve the relative motion of the floating base with respect to the floor
 NsensorsSensors (pure outputs) available for Upkies
 CCpuTemperatureSensor for CPU temperature readings
 CJoystickSensor for a joystick controller
 CKeyboardSensor for reading Keyboard inputs
 CSensorBase class for sensors
 NspineInter-process communication protocol with the spine
 CAgentInterfaceMemory map to shared memory
 CSpineLoop transmitting actions to the actuation and observations to the agent
 CStateMachineSpine state machine
 NutilsUtility functions
 CSynchronousClockSynchronous (blocking) clock
 NenvsGymnasium environments
 Nupkie_base_env
 CUpkieBaseEnvBase class for Upkie environments
 Nupkie_ground_velocity
 CUpkieGroundVelocityEnvironment where Upkie is used as a wheeled inverted pendulum
 Nupkie_servo_positions
 CUpkieServoPositionsCommand servos by position control
 Nupkie_servo_torques
 CUpkieServoTorquesCommand servos by torque control
 Nupkie_servos
 CUpkieServosUpkie with actions and observations corresponding to the moteus servo API
 Nwheeled_inverted_pendulum
 CWheeledInvertedPendulumWheeled inverted pendulum model
 Nwrappers
 Nadd_action_to_observation
 Nadd_lag_to_action
 Ndifferentiate_action
 Nnoisify_action
 Nnoisify_observation
 Nobservation_based_reward
 Nrandom_push
 NexceptionsExceptions raised by the Python library
 CFallDetectedRaised when a fall is detected
 CMissingOptionalDependencyRaised when an optional feature lacks a corresponding optional dependency
 CModelErrorRaised when something is wrong in the robot model
 CPerformanceIssueException raised when a performance issue is detected
 CSpineErrorException raised when the spine sets an error flag in the request field of the shared memory map
 CUpkieExceptionBase class for exceptions raised by Upkie agents
 CUpkieRuntimeErrorRuntime error, for instance an invalid call to a library function
 NmodelRobot model
 Njoint
 CJointJoint properties
 Njoint_limit
 CJointLimitJoint limit in configuration and tangent spaces
 Nmodel
 CModelRobot model parsed from its URDF description
 NspinePython interface for agents to interact with a spine
 Nspine_interface
 CSpineInterfaceInterface to interact with a spine from a Python agent
 NutilsUtility functions
 Nrobot_state
 CRobotStateRobot state (configuration and velocity) with optional randomization
 Nrobot_state_randomization
 CRobotStateRandomizationDomain randomization parameters for Upkie's state
 Nspdlog
 CSpdlogFormatterCustom logging formatter visually consistent with spdlog