Namespace List

Here is a list of all documented namespaces with brief descriptions:

[detail level 12345]

▼Nupkie	Software for wheeled-biped robots
Nconfig	Static robot configuration
▼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
Ndefault_action	Default values for servo actions
Npi3hat	Utility functions used in the pi3hat interface
▼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
▼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
▼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
▼Nspine	Python interface for agents to interact with a spine
▼Nutils	Utility functions