Pose
====


This sensor returns the full pose of the sensor, i.e. both
translation and rotation with respect to the Blender world frame.


.. cssclass:: properties morse-section

Configuration parameters for Pose
---------------------------------

*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
- ``x`` (float, initial value: ``0.0``)
	x coordinate of the sensor, in world coordinate, in meter
- ``y`` (float, initial value: ``0.0``)
	y coordinate of the sensor, in world coordinate, in meter
- ``z`` (float, initial value: ``0.0``)
	z coordinate of the sensor, in world coordinate, in meter
- ``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 `geometry_msgs/PoseStamped <http://ros.org/doc/api/geometry_msgs/html/msg/PoseStamped.html>`_ (:py:mod:`morse.middleware.ros.pose.PoseStampedPublisher`) or as `std_msgs/Header <http://ros.org/doc/api/std_msgs/html/msg/Header.html>`_ (:py:mod:`morse.middleware.ros.pose.TFPublisher`)
- :tag:`pocolibs`  as `POM_ME_POS <http://trac.laas.fr/git/pom-genom/tree/pomStruct.h#n180>`_ (:py:mod:`morse.middleware.pocolibs.sensors.pom.PomSensorPoster`) or as `POM_POS <http://trac.laas.fr/git/pom-genom/tree/pomStruct.h#n211>`_ (:py:mod:`morse.middleware.pocolibs.sensors.pom.PomPoster`)
- :tag:`moos`  as PoseNotifier (:py:mod:`morse.middleware.moos.pose.PoseNotifier`)
- :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 Pose
-----------------

- ``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
    pose = Pose()

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

    env = Environment('empty')
    

.. cssclass:: files morse-section

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

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




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