upkie.envs.wheeled_inverted_pendulum.WheeledInvertedPendulum.Uncertainty Class Reference

Biases and noise levels on modeled system uncertainties. More...

Public Member Functions
def	__init__ (self, Union[np.ndarray, float] accelerometer_bias=0.0, Union[np.ndarray, float] accelerometer_noise=0.0, Union[np.ndarray, float] observation_bias=0.0, Union[np.ndarray, float] observation_noise=0.0)
	Initialize uncertainties.
np.ndarray	accelerometer (self)
	Get accelerometer uncertainty vector. More...
np.ndarray	observation (self)
	Get observation uncertainty vector.

Public Attributes
	accelerometer_bias
	Bias vector added to accelerometer measurements in the base frame.
	accelerometer_noise
	Vector of standard deviations for white noise added to accelerometer measurements in the base frame.
	observation_bias
	Bias vector added to state observations.
	observation_noise
	Vector of standard deviations for white noise added to state observations.

Detailed Description

Biases and noise levels on modeled system uncertainties.

Member Function Documentation

accelerometer()

np.ndarray upkie.envs.wheeled_inverted_pendulum.WheeledInvertedPendulum.Uncertainty.accelerometer

(

self

)

Get accelerometer uncertainty vector.

Returns

Acceleration uncertainty vector in the base frame.

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The documentation for this class was generated from the following file:

• upkie/envs/wheeled_inverted_pendulum.py