Send actions to actuators or simulators. More...

Namespaces
namespace	bullet
	Bullet utility functions used in the simulation interface.

namespace	default_action
	Default values for servo actions.

namespace	pi3hat
	Utility functions used in the pi3hat interface.

Classes
class	BulletInterface
	Actuation interface for the Bullet simulator. More...

struct	ImuData
	Data from the onboard inertial measurement unit (IMU). More...

struct	ImuUncertainty
	Uncertainty on IMU measurements. More...

class	Interface
	Base class for actuation interfaces. More...

class	MockInterface
	Interface whose internal state perfectly tracks commands. More...

class	Pi3HatInterface
	Interface to moteus controllers. More...

class	ServoLayout
	Map between servos, their busses and the joints they actuate. More...

struct	ServoProperties
	Servo properties. More...

Functions
std::string	find_plane_urdf (const std::string argv0)
	Find ground plane URDF from Bazel runfiles. More...

void	add_white_noise (Eigen::Vector3d &vector, double std_dev, std::mt19937 &rng)
	Add white noise to a vector. More...

Detailed Description

Send actions to actuators or simulators.

Function Documentation

void upkie::cpp::actuation::add_white_noise	(	Eigen::Vector3d &	vector,
		double	std_dev,
		std::mt19937 &	rng
	)

inline

Add white noise to a vector.

Parameters

[out]	vector	Vector to add noise to.
[in]	std_dev	Standard deviation of white noise.
[in,out]	rng	Random number generator.

std::string upkie::cpp::actuation::find_plane_urdf ( const std::string argv0 )

Find ground plane URDF from Bazel runfiles.

Parameters

[in] argv0 Value of argv[0] used to locate runfiles.