upkie.utils.robot_state.RobotState Class Reference

Robot state (configuration and velocity) with optional randomization. More...

Public Member Functions
def	__init__ (self, Optional[np.ndarray] angular_velocity_base_in_base=None, Optional[np.ndarray] joint_configuration=None, Optional[np.ndarray] joint_velocity=None, Optional[np.ndarray] linear_velocity_base_to_world_in_world=None, Optional[ScipyRotation] orientation_base_in_world=None, Optional[np.ndarray] position_base_in_world=None, Optional[RobotStateRandomization] randomization=None)
	Initialize a new state. More...
np.ndarray	sample_angular_velocity (self, np.random.Generator np_random)
	Sample an angular velocity around the one in this state. More...
np.ndarray	sample_linear_velocity (self, np.random.Generator np_random)
	Sample a linear velocity around the one in this state. More...
ScipyRotation	sample_orientation (self, np.random.Generator np_random)
	Sample an orientation around the one in this state. More...
np.ndarray	sample_position (self, np.random.Generator np_random)
	Sample a position around the one in this state. More...

Public Attributes
	angular_velocity_base_in_base
	Angular velocity of the base in body coordinates, in rad/s.
	joint_configuration
	Vector of joint angles in radians.
	joint_velocity
	Vector of joint velocities, in rad/s.
	linear_velocity_base_to_world_in_world
	Linear velocity of the base in world coordinates, in m/s.
	orientation_base_in_world
	Orientation of the base frame with respect to the world frame.
	position_base_in_world
	Position of the base frame in the world frame.
	randomization
	Displacements and velocities added to the state when calling one of the sampling functions.

Detailed Description

Robot state (configuration and velocity) with optional randomization.

Constructor & Destructor Documentation

__init__()

def upkie.utils.robot_state.RobotState.__init__	(		self,
		Optional[np.ndarray]	angular_velocity_base_in_base = None,
		Optional[np.ndarray]	joint_configuration = None,
		Optional[np.ndarray]	joint_velocity = None,
		Optional[np.ndarray]	linear_velocity_base_to_world_in_world = None,
		Optional[ScipyRotation]	orientation_base_in_world = None,
		Optional[np.ndarray]	position_base_in_world = None,
		Optional[RobotStateRandomization]	randomization = None
	)

Initialize a new state.

Parameters

[in]	angular_velocity_base_in_base	Body angular velocity of the floating-base link.
[in]	joint_configuration	Joint configuration vector (not including the floating-base joint).
[in]	joint_velocity	Joint velocity vector (not including the floating-base joint).
[in]	linear_velocity_base_to_world_in_world	Linear velocity of the floating-base link in the world frame.
[in]	orientation_base_in_world	Rotation from the floating-base frame to the world frame.
[in]	position_base_in_world	Position of the floating-base frame in the world frame.
[in]	randomization	Optional state randomization distribution.

Member Function Documentation

sample_angular_velocity()

np.ndarray upkie.utils.robot_state.RobotState.sample_angular_velocity	(		self,
		np.random.Generator	np_random
	)

Sample an angular velocity around the one in this state.

Parameters

[in]

np_random

NumPy random number generator.

Returns

Sampled angular velocity.

sample_linear_velocity()

np.ndarray upkie.utils.robot_state.RobotState.sample_linear_velocity	(		self,
		np.random.Generator	np_random
	)

Sample a linear velocity around the one in this state.

Parameters

[in]

np_random

NumPy random number generator.

Returns

Sampled linear velocity.

sample_orientation()

ScipyRotation upkie.utils.robot_state.RobotState.sample_orientation	(		self,
		np.random.Generator	np_random
	)

Sample an orientation around the one in this state.

Parameters

[in]

np_random

NumPy random number generator.

Returns

Sampled orientation.

sample_position()

np.ndarray upkie.utils.robot_state.RobotState.sample_position	(		self,
		np.random.Generator	np_random
	)

Sample a position around the one in this state.

Parameters

[in]

np_random

NumPy random number generator.

Returns

Randomized position.

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

• upkie/utils/robot_state.py