Velocity

This sensor returns the linear and angular velocity of the sensor, both in robot frame and in world frame. Linear velocities are expressed in meter . sec ^ -1 while angular velocities are expressed in radian . sec ^ -1.

The sensor expects that the associated robot has a physics controller.

Configuration parameters for velocity

No configurable parameter.

Data fields

This sensor exports these datafields at each simulation step:

  • timestamp (float, initial value: 0.0)

    number of milliseconds in simulated time

  • linear_velocity (vec3<float>, initial value: [0.0, 0.0, 0.0])

    velocity in sensor x, y, z axes (in meter . sec ^ -1)

  • angular_velocity (vec3<float>, initial value: [0.0, 0.0, 0.0])

    rates in sensor x, y, z axes (in radian . sec ^ -1)

  • world_linear_velocity (vec3<float>, initial value: [0.0, 0.0, 0.0])

    velocity in world x, y, z axes (in meter . sec ^ -1)

Interface support:

Services for Velocity

  • get_local_data() (blocking)

    Returns the current data stored in the sensor.

    • Return value

      a dictionary of the current sensor’s data

  • 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

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 sensor
velocity = Velocity()

# place your component at the correct location
velocity.translate(<x>, <y>, <z>)
velocity.rotate(<rx>, <ry>, <rz>)

robot.append(velocity)

# define one or several communication interface, like 'socket'
velocity.add_interface(<interface>)

env = Environment('empty')

Other sources of examples

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

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