Source code for morse.sensors.pose
import logging; logger = logging.getLogger("morse." + __name__)
import morse.core.sensor
from morse.helpers.components import add_data
[docs]class Pose(morse.core.sensor.Sensor):
"""
This sensor returns the full pose of the sensor, i.e. both
translation and rotation with respect to the Blender world frame.
"""
_name = "Pose"
add_data('x', 0.0, "float",
'x coordinate of the sensor, in world coordinate, in meter')
add_data('y', 0.0, "float",
'y coordinate of the sensor, in world coordinate, in meter')
add_data('z', 0.0, "float",
'z coordinate of the sensor, in world coordinate, in meter')
add_data('yaw', 0.0, "float",
'rotation around the Z axis of the sensor, in radian')
add_data('pitch', 0.0, "float",
'rotation around the Y axis of the sensor, in radian')
add_data('roll', 0.0, "float",
'rotation around the X axis of the sensor, in radian')
def __init__(self, obj, parent=None):
""" Constructor method.
Receives the reference to the Blender object.
The second parameter should be the name of the object's parent.
"""
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
morse.core.sensor.Sensor.__init__(self, obj, parent)
logger.info('Component initialized, runs at %.2f Hz', self.frequency)
[docs] def default_action(self):
""" Get the x, y, z, yaw, pitch and roll of the blender object. """
self.local_data['x'] = self.position_3d.x
self.local_data['y'] = self.position_3d.y
self.local_data['z'] = self.position_3d.z
self.local_data['yaw'] = self.position_3d.yaw
self.local_data['pitch'] = self.position_3d.pitch
self.local_data['roll'] = self.position_3d.roll