This inheritance list is sorted roughly, but not completely, alphabetically:

[detail level 123]

▼CActionWrapper
CNoisifyAction	Add noise to the action of an environment
CAgentInterface	Memory map to shared memory
CCanFrame	CAN frame data structure for the moteus protocol
CData	Data for one control cycle
▼CEnv
CActionObserverEnv	Test environment that returns the action as observation
CConstantObservationEnv	Test environment that returns a constant observation
►CUpkieEnv	Base class with features shared by all Upkie environments
CUpkieServos	Upkie environment where actions command servomotors directly
▼CException
►CUpkieException	Base class for exceptions raised by Upkie agents
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	Raised when a performance issue is detected
CSpineError	Raised when the spine sets an error flag
CUpkieRuntimeError	Runtime error, for instance an invalid call to a library function
CUpkieTimeoutError	Raised when something times out, typically the spine not responding
CExternalForce	External force applied to a robot link
▼CFormatter
CSpdlogFormatter	Custom logging formatter visually consistent with spdlog
CImuData	Data from the onboard inertial measurement unit (IMU)
CImuUncertainty	Uncertainty on IMU measurements
▼CInterface	Base class for actuation interfaces
CBulletInterface	Actuation interface for the Bullet simulator
CMockInterface	Interface whose internal state perfectly tracks commands
CPi3HatInterface	Interface to moteus controllers
CJoint	Joint properties (see also joint limits)
CJointLimit	Joint limit in configuration and tangent spaces
CJoystick	Joystick class used by mock spines to mimick the C++ Joystick sensor
CMockSpine	Mock spine interface for testing Upkie environments
CModel	Robot model parsed from its URDF description
CMPCBalancer	Model-predictive control sagittal balancer
CMultiplexParser	Parser for multiplex data in the moteus protocol
▼CObservationWrapper
CAddActionToObservation	Append last action vector to the observation vector
CNoisifyObservation	Add noise to the observation of an environment
▼CObserver	Base class for observers
CBaseOrientation	Observe the orientation of the base frame relative to the world frame
CFloorContact	Observe contact between the wheels and the floor
CHistoryObserver< T >	Report high-frequency history vectors to lower-frequency agents
CWheelOdometry	Observe the relative motion of the floating base with respect to the floor
CObserverPipeline	Observer pipeline
COutput	Output information forwarded to an interface's callback function
CBulletInterface::Parameters	Interface parameters
CBaseOrientation::Parameters	Parameters for the base orientation observer
CFloorContact::Parameters	Parameters to the floor contact observer
CWheelContact::Parameters	Observer parameters
CWheelOdometry::Parameters	Observer parameters
CSpine::Parameters	Spine parameters
CPointContact	Contact information from the robot's perspective
CPositionCommand	Position command
CPositionResolution	Resolution settings for position control commands
CProxQPWorkspace	Workspace data for ProxQP
CQueryCommand	Resolution settings for query commands
CQueryResult	Result data from moteus query commands
CRobotState	Robot state (configuration and velocity) with optional randomization
CRobotStateRandomization	Domain randomization parameters for Upkie's state
▼Cruntime_error
►CUpkieError	Base class for Upkie-related exceptions
CControllerError	Exception thrown when a controller fails
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
▼CRuntimeError
CUpkieRuntimeError	Runtime error, for instance an invalid call to a library function
▼CSensor	Base class for sensors
CCpuTemperature	Sensor for CPU temperature readings
CJoystick	Sensor for a joystick controller
CKeyboard	Sensor for reading Keyboard inputs
CSensorPipeline	Sensor pipeline
CServoCommand	Command sent to a servo
CServoLayout	Map between servos, their busses and the joints they actuate
CServoProperties	Servo properties
CServoReply	Reply from servo
CSpan< T >	Fixed-size array with runtime size information
CSpan< upkie::cpp::interfaces::moteus::ServoCommand >
CSpan< upkie::cpp::interfaces::moteus::ServoReply >
CSpine	Loop transmitting actions to the actuation and observations to the agent
CSpineInterface	Interface to interact with a spine from a Python agent
CStateMachine	Spine state machine
CSynchronousClock	Synchronous (blocking) clock
▼CTimeoutError
CUpkieTimeoutError	Raised when something times out, typically the spine not responding
CWheelContact	Observe contact between a given wheel and the floor
▼CWrapper
CUpkiePendulum	Wrapper to make Upkie act as a wheeled inverted pendulum
CAddLagToAction	Model lag by applying a low-pass filter to the action of an environment
CDifferentiateAction	Act on the derivative of the action
CRandomPush	At each step, with a given probability, apply a random push to the robot
CWriteCanFrame	Writer for CAN frame data in the moteus protocol
CWriteCombiner< N >	Groups registers when encoding them to minimize the required bytes
▼CABC
►CBackend	Interface to a backend for Upkie environments
CGenesisBackend	Backend using the Genesis physics simulator
CMockBackend	Backend that mimics perfect commands for testing
CPyBulletBackend	Backend using PyBullet physics simulation
CSpineBackend	Backend connected to a simulation or real spine
CUpkieEnv	Base class with features shared by all Upkie environments