Magnetometer
============


This sensor computes the magnetic field vector, at the sensor
position. It relies on the WMM2015 model, available 
`at NOAA <http://www.ngdc.noaa.gov/geomag/WMM/DoDWMM.shtml>`_.

.. warning::

    For proper computation, the sensor needs a real position on
    Earth, and so the following properties should be added at the
    environment level:
        - **longitude** in degrees (double) of Blender origin
        - **latitude** in degrees (double) of Blender origin
        - **altitude** in m  of the Blender origin
        - optionnaly **angle_against_north** in degrees is the angle
          between geographic north and the blender X axis.
          **angle_against_north** is positive when the blender X-axis is
          east of true north, and negative when it is to the west.


.. cssclass:: properties morse-section

Configuration parameters for Magnetometer
-----------------------------------------


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

- ``date`` (float, default: ``None``)
	the date used to adjust             for magnetic field. If not precised, consider the today             date


.. 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
- ``x`` (float, initial value: ``0.0``)
	Northern component of the magnetic field vector, in nT
- ``y`` (float, initial value: ``0.0``)
	Eastern component of the magnetic field vector, in nT
- ``z`` (float, initial value: ``0.0``)
	Downward component of the magnetic field vector, in nT

*Interface support:*

- :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`)
- :tag:`moos`  as StringPublisher (:py:mod:`morse.middleware.moos.abstract_moos.StringPublisher`)


.. cssclass:: services morse-section

Services for Magnetometer
-------------------------

- ``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
    magnetometer = Magnetometer()

    # place your component at the correct location
    magnetometer.translate(<x>, <y>, <z>)
    magnetometer.rotate(<rx>, <ry>, <rz>)
    
    robot.append(magnetometer)
    
    # define one or several communication interface, like 'socket'
    magnetometer.add_interface(<interface>)

    env = Environment('empty')
    

.. cssclass:: files morse-section

Other sources of examples
+++++++++++++++++++++++++

- `Source code <../../_modules/morse/sensors/magnetometer.html>`_
- `Unit-test <../../_modules/base/magnetometer_testing.html>`_




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