Thermometer Sensor

This sensor emulates a Thermometer, measuring the temperature with respect to the distance to heat sources. It defines a default temperature throughout the scenario, which is affected by local fire sources. The temperature rises exponentially when the distance between the sensor and the heat source decreases. Its equation is given by:

temperature = DefaultTemperature + \Sigma_{s} FireTemperature(s) * \exp ( - \alpha * distance(s) )

Each fire source must define a property named as the FireTag (default is ‘Fire’). If this property is an int or a float, its value is used as the source fire temperature.

Configuration parameters for Thermometer Sensor

You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).

  • FireTag (string, default: "Fire")

    Tag indicating that an object is a fire source

  • DefaultTemperature (float, default: 15.0)

    Default temperature: returned by the sensor when no source is detected

  • FireTemperature (float, default: 200.0)

    Temperature of fire sources. Can be overriden by objects using the FireTag property

  • Range (float, default: 9223372036854775807)

    Maximum distance to which fire sources are detected

  • Alpha (float, default: 0.2)

    Attenuation coefficient alpha

Data fields

This sensor exports these datafields at each simulation step:

  • timestamp (float, initial value: 0.0)

    number of seconds in simulated time

  • temperature (float, initial value: 0.0)

    Temperature in Celsius

Interface support:

Services for Thermometer 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


  • get_configurations() (blocking)

    Returns the configurations of a component (parsed from the properties).

    • Return value

      a dictionary of the current component’s configurations


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
thermometer = Thermometer()

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


# define one or several communication interface, like 'socket'

env = Environment('empty')

Other sources of examples

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

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