Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

[detail level 12345]

▼Nupkie	Software for wheeled-biped robots
▼Ncpp	C++ library to create new spines
▼Nactuation	Send actions to actuators or simulators
▼Nbullet	Bullet utility functions used in the simulation interface
CContactData	Contact information for a single link
CExternalForce	Parameters for a call to Bullet's applyExternalForce
CJointProperties	Properties for robot joints in the Bullet simulation
CRobotSimulatorChangeDynamicsArgs	Structure which contains the new link properties
CRobotSimulatorClientAPI	Child class to enable modification of inertia matrices
▼CBulletInterface	Actuation interface for the Bullet simulator
CParameters	Interface parameters
CImuData	Data from the onboard inertial measurement unit (IMU)
CImuUncertainty	Uncertainty on IMU measurements
CInterface	Base class for actuation interfaces
CMockInterface	Interface whose internal state perfectly tracks commands
CPi3HatInterface	Interface to moteus controllers
CServoLayout	Map between servos, their busses and the joints they actuate
CServoProperties	Servo properties
▼Nexceptions	Exceptions raised by this project
CFilterError	Exception for filter errors
CObserverError	Exception thrown when an observer fails
CPositionCommandError	Exception raised when an actuation command is incorrect
CServoError	Exception for filter errors
CTypeError	Exception raised when a deserialized object does not have the right type
CUpkieError	Base class for Upkie-related exceptions
▼Nobservers	State observers available for Upkies
▼CBaseOrientation	Observe the orientation of the base frame relative to the world frame
CParameters	Parameters for the base orientation observer
▼CFloorContact	Observe contact between the wheels and the floor
CParameters	Parameters to the floor contact observer
CHistoryObserver	Report high-frequency history vectors to lower-frequency agents
CObserver	Base class for observers
CObserverPipeline	Observer pipeline
▼CWheelContact	Observe contact between a given wheel and the floor
CParameters	Observer parameters
▼CWheelOdometry	Observe the relative motion of the floating base with respect to the floor
CParameters	Observer parameters
▼Nsensors	Sensors (pure outputs) available for Upkies
CCpuTemperature	Sensor for CPU temperature readings
CJoystick	Sensor for a joystick controller
CKeyboard	Sensor for reading Keyboard inputs
CSensor	Base class for sensors
CSensorPipeline	Sensor pipeline
▼Nspine	Inter-process communication protocol with the spine
CAgentInterface	Memory map to shared memory
▼CSpine	Loop transmitting actions to the actuation and observations to the agent
CParameters	Spine parameters
CStateMachine	Spine state machine
▼Nutils	Utility functions
CSynchronousClock	Synchronous (blocking) clock
▼Nenvs	Gymnasium environments
▼Nupkie_ground_velocity	Ground-velocity Gymnasium environment
CUpkieGroundVelocity	Environment where Upkie is used as a wheeled inverted pendulum
▼Nupkie_servo_positions
CUpkieServoPositions	Command servos by position control
▼Nupkie_servo_torques
CUpkieServoTorques	Command servos by torque control
▼Nupkie_servos
CUpkieServos	Base Upkie environment where actions command servomotors directly
▼Nwrappers
▼Nadd_action_to_observation
CAddActionToObservation	Append last action vector to the observation vector
▼Nadd_lag_to_action
CAddLagToAction	Model lag by applying a low-pass filter to the action of an environment
▼Ndifferentiate_action
CDifferentiateAction	Act on the derivative of the action
▼Nnoisify_action
CNoisifyAction	Add noise to the action of an environment
▼Nnoisify_observation
CNoisifyObservation	Add noise to the observation of an environment
▼Nobservation_based_reward
CObservationBasedReward	Redefine the reward of an environment as a function of its observation
▼Nrandom_push
CRandomPush	At each step, with a given probability, apply a random push to the robot
▼Nexceptions	Exceptions raised by the Python library
CFallDetected	Raised when a fall is detected
CMissingOptionalDependency	Raised when an optional feature lacks a corresponding optional dependency
CModelError	Raised when something is wrong in the robot model
CPerformanceIssue	Exception raised when a performance issue is detected
CSpineError	Exception raised when the spine sets an error flag in the request field of the shared memory map
CUpkieException	Base class for exceptions raised by Upkie agents
CUpkieRuntimeError	Runtime error, for instance an invalid call to a library function
▼Nmodel	Robot model
▼Njoint
CJoint	Joint properties (see also joint limits)
▼Njoint_limit
CJointLimit	Joint limit in configuration and tangent spaces
▼Nmodel
CModel	Robot model parsed from its URDF description
▼Nspine	Python interface for agents to interact with a spine
▼Nspine_interface
CSpineInterface	Interface to interact with a spine from a Python agent
▼Nutils	Utility functions
▼Nrobot_state
CRobotState	Robot state (configuration and velocity) with optional randomization
▼Nrobot_state_randomization
CRobotStateRandomization	Domain randomization parameters for Upkie's state
▼Nspdlog
CSpdlogFormatter	Custom logging formatter visually consistent with spdlog