Pose

This sensor returns the full pose of the sensor, i.e. both translation and rotation with respect to the Blender world frame.

Configuration parameters for Pose

No configurable parameter.

Data fields

This sensor exports these datafields at each simulation step:

  • timestamp (float, initial value: 0.0)

    number of seconds in simulated time

  • x (float, initial value: 0.0)

    x coordinate of the sensor, in world coordinate, in meter

  • y (float, initial value: 0.0)

    y coordinate of the sensor, in world coordinate, in meter

  • z (float, initial value: 0.0)

    z coordinate of the sensor, in world coordinate, in meter

  • yaw (float, initial value: 0.0)

    rotation around the Z axis of the sensor, in radian

  • pitch (float, initial value: 0.0)

    rotation around the Y axis of the sensor, in radian

  • roll (float, initial value: 0.0)

    rotation around the X axis of the sensor, in radian

Interface support:

Services for Pose

  • get_properties() (blocking)

    Returns the properties of a component.

    • Return value

      a dictionary of the current component’s properties

  • get_local_data() (blocking)

    Returns the current data stored in the sensor.

    • Return value

      a dictionary of the current sensor’s data

  • 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

Examples

The following examples show how to use this component in a Builder script:

from morse.builder import *

# adds a default robot (the MORSE mascott!)
robot = Morsy()

# creates a new instance of the sensor
pose = Pose()

# place your component at the correct location
pose.translate(<x>, <y>, <z>)
pose.rotate(<rx>, <ry>, <rz>)

robot.append(pose)

# define one or several communication interface, like 'socket'
pose.add_interface(<interface>)

env = Environment('empty')

Other sources of examples

(This page has been auto-generated from MORSE module morse.sensors.pose.)

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