Linear and angular speed (Vx, Vy, W) actuator ============================================= **Motion controller using linear and angular speeds** This actuator reads the values of forwards movement x, sidewards movement y and angular speed w and applies them to the robot as direct translation. This controller is supposed to be used with robots that allow for sidewards movements. .. cssclass:: properties morse-section Configuration parameters for Linear and angular speed (Vx, Vy, W) actuator -------------------------------------------------------------------------- You can set these properties in your scripts with ``.properties(=..., =...)``. - ``ControlType`` (string, default: ``"Velocity"``) Kind of control, can be one of ['Velocity', 'Position'] .. cssclass:: fields morse-section Data fields ----------- This actuator reads these datafields at each simulation step: - ``x`` (float, initial value: ``0.0``) linear velocity in x direction (forward movement) (m/s) - ``y`` (float, initial value: ``0.0``) linear velocity in y direction (sidewards movement) (m/s) - ``w`` (float, initial value: ``0.0``) angular velocity (rad/s) *Interface support:* - :tag:`ros` as `geometry_msgs/Twist `_ (:py:mod:`morse.middleware.ros.motion_xyw.TwistReader`) - :tag:`socket` as straight JSON deserialization (:py:mod:`morse.middleware.socket_datastream.SocketReader`) - :tag:`yarp` as yarp::Bottle (:py:mod:`morse.middleware.yarp_datastream.YarpReader`) .. cssclass:: services morse-section Services for Linear and angular speed (Vx, Vy, W) actuator ---------------------------------------------------------- - ``get_properties()`` (blocking) Returns the properties of a component. - Return value a dictionary of the current component's properties - ``set_property(prop_name, prop_val)`` (blocking) Modify one property on a component - Parameters - ``prop_name``: the name of the property to modify (as shown the documentation) - ``prop_val``: the new value of the property. Note that there is no checking about the type of the value so be careful - Return value nothing - ``get_configurations()`` (blocking) Returns the configurations of a component (parsed from the properties). - Return value a dictionary of the current component's configurations .. cssclass:: examples morse-section Examples -------- The following examples show how to use this component in a *Builder* script: .. code-block:: python from morse.builder import * # adds a default robot (the MORSE mascott!) robot = Morsy() # creates a new instance of the actuator motionxyw = MotionXYW() # place your component at the correct location motionxyw.translate(, , ) motionxyw.rotate(, , ) robot.append(motionxyw) # define one or several communication interface, like 'socket' motionxyw.add_interface() env = Environment('empty') .. cssclass:: files morse-section Other sources of examples +++++++++++++++++++++++++ - `Source code <../../_modules/morse/actuators/xy_omega.html>`_ - `Unit-test <../../_modules/base/xy_omega_testing.html>`_ *(This page has been auto-generated from MORSE module morse.actuators.xy_omega.)*