Domain randomization parameters for Upkie's state. More...

Public Member Functions
def	__init__ (self, float roll=0.0, float pitch=0.0, float x=0.0, float z=0.0, float omega_x=0.0, float omega_y=0.0, Optional[np.ndarray] linear_velocity=None)
	Initialize sampler. More...

None	update (self, Optional[float] roll=None, Optional[float] pitch=None, Optional[float] x=None, Optional[float] z=None, Optional[float] omega_x=None, Optional[float] omega_y=None, Optional[float] v_x=None, Optional[float] v_z=None)
	Update some fields. More...

ScipyRotation	sample_orientation (self, np.random.Generator np_random)
	Sample an orientation within the given bounds. More...

np.ndarray	sample_position (self, np.random.Generator np_random)
	Sample a position within the given bounds. More...

np.ndarray	sample_angular_velocity (self, np.random.Generator np_random)
	Sample an angular velocity within the given bounds. More...

np.ndarray	sample_linear_velocity (self, np.random.Generator np_random)
	Sample a linear velocity within the given bounds. More...

Public Attributes
	roll
	Amount of roll angle randomization, in radians.

	pitch
	Amount of pitch angle randomization, in radians.

	x
	Amount of x-axis position randomization, in meters.

	z
	Amount of z-axis position randomization, in meters.

	omega_x
	Amount of x-axis randomization on the angular-velocity vector, in rad/s.

	omega_y
	Amount of y-axis randomization on the angular-velocity vector, in rad/s.

	linear_velocity
	Magnitude of linear velocity randomization, as a 3D vector in m/s.

Detailed Description

Domain randomization parameters for Upkie's state.

Note: The API for this class is likely to change. Initially all its attributes where floating-point numbers due to a quick-and-dirty design decision.

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

Public Member Functions