PTU Pose Sensor

Returns the pan/tilt values of a pan-tilt unit

Simple sensor that provides the current rotation angles of the pan and tilt segments of the PTU actuator. The angles returned are in radians in the range (-pi, pi).

Note

This sensor must be added as a child of the PTU you want to sense, like in the example below:

robot = ATRV()

ptu = PTU()
robot.append(ptu)
ptu.translate(z=0.9)

ptu = PTUPosture('ptu_pose')
ptu.append(ptu_pose)

Note

The angles are given with respect to the orientation of the robot

See also: PTU actuator.

Configuration parameters for PTU Pose Sensor

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

  • pan (float, initial value: 0.0)

    pan value, in radians

  • tilt (float, initial value: 0.0)

    tilt value, in radians

Interface support:

Services for PTU Pose Sensor

  • 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
ptuposture = PTUPosture()

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

robot.append(ptuposture)

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

env = Environment('empty')

Other sources of examples

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

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