Gyroscope ========= This sensor emulates a Gyroscope, providing the yaw, pitch and roll angles of the sensor object with respect to the Blender world reference axes. Angles are given in radians. .. cssclass:: properties morse-section Configuration parameters for Gyroscope -------------------------------------- *No configurable parameter.* .. cssclass:: fields morse-section Data fields ----------- This sensor exports these datafields at each simulation step: - ``timestamp`` (float, initial value: ``0.0``) number of seconds in simulated time - ``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:* - :tag:`ros` as `std_msgs/String `_ (:py:mod:`morse.middleware.ros.StringPublisher`) - :tag:`pocolibs` as `POM_ME_POS `_ (:py:mod:`morse.middleware.pocolibs.sensors.pom.PomSensorPoster`) or as `POM_POS `_ (:py:mod:`morse.middleware.pocolibs.sensors.pom.PomPoster`) - :tag:`moos` as GyroscopeNotifier (:py:mod:`morse.middleware.moos.gyroscope.GyroscopeNotifier`) - :tag:`yarp` as yarp::Bottle (:py:mod:`morse.middleware.yarp_datastream.YarpPublisher`) - :tag:`socket` as straight JSON serialization (:py:mod:`morse.middleware.socket_datastream.SocketPublisher`) - :tag:`text` as key = value format with timestamp and index value (:py:mod:`morse.middleware.text_datastream.Publisher`) .. cssclass:: services morse-section Services for Gyroscope ---------------------- - ``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 .. 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 sensor gyroscope = Gyroscope() # place your component at the correct location gyroscope.translate(, , ) gyroscope.rotate(, , ) robot.append(gyroscope) # define one or several communication interface, like 'socket' gyroscope.add_interface() env = Environment('empty') .. cssclass:: files morse-section Other sources of examples +++++++++++++++++++++++++ - `Source code <../../_modules/morse/sensors/gyroscope.html>`_ - `Unit-test <../../_modules/base/gyroscope_testing.html>`_ *(This page has been auto-generated from MORSE module morse.sensors.gyroscope.)*