Light¶
A simple point light
This actuator is a simple On/Off light. Based on SPOT light.
- Emit in +X
Configuration parameters for light¶
You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...).
- emit (bool, default: True)
Set to False to initially disable the light
- distance (float, default: 10)
Distance at which the light energy is halfed
- color (string, default: "(0,0,0)")
Light color
- size (float, default: 1.5707963267948966)
Light spot size
- energy (float, default: 1.0)
Light energy when On
Data fields¶
This actuator reads these datafields at each simulation step:
- emit (bool, initial value: True)
On/Off light switch
Interface support:
- yarp as yarp::Bottle (morse.middleware.yarp_datastream.YarpReader)
- socket as straight JSON deserialization (morse.middleware.socket_datastream.SocketReader)
- ros as std_msgs/Bool (morse.middleware.ros.light.BoolReader)
Services for Light¶
- get_configurations() (blocking)
Returns the configurations of a component (parsed from the properties).
Return value
a dictionary of the current component’s configurations
- get_properties() (blocking)
Returns the properties of a component.
Return value
a dictionary of the current component’s properties
- toggle(emit) (blocking)
Toggle the light.
Parameters
- emit: if emit is set to True/False, switch the light On/Off; if emit is not set, toggle the light (from On to Off and conversely)
Return value
Returns always True
Examples¶
The following examples show how to use this component in a Builder script:
from morse.builder import *
robot = ATRV()
# creates a new instance of the actuator
light = Light()
# place your component at the correct location
light.translate(<x>, <y>, <z>)
light.rotate(<rx>, <ry>, <rz>)
robot.append(light)
# define one or several communication interface, like 'socket'
light.add_interface(<interface>)
env = Environment('empty')
Other sources of examples¶
(This page has been auto-generated from MORSE module morse.actuators.light.)
