Source code for morse.actuators.destination

import logging; logger = logging.getLogger("morse." + __name__)
import morse.core.actuator
from morse.helpers.components import add_data, add_property

[docs]class Destination(morse.core.actuator.Actuator): """ This actuator reads the coordinates of a destination point, and moves the robot in a straight line towards the given point, without turning. It provides a very simplistic movement, and can be used for testing or for robots with holonomic movement. The speeds provided are internally adjusted to the Blender time measure. """ _name = "Destination" _short_desc = "Instruct the robot to move towards a given target" add_data('x', 'current X pos', "float", "X coordinate of the destination") add_data('y', 'current Y pos', "float", "Y coordinate of the destination") add_data('z', 'current Z pos', "float", "Z coordinate of the destination") add_property('_tolerance', 0.5, 'Tolerance') add_property('_speed', 5.0, 'Speed') add_property('_type', 'Velocity', 'ControlType', 'string', "Kind of control, can be one of ['Velocity', 'Position']") add_property('_remain_at_destination', False, 'RemainAtDestination', 'bool', "If true (default: false), the robot actively attempts to \ remain at the destination once reached. This is especially \ useful for flying robots that would otherwise typically fall.") def __init__(self, obj, parent=None):'%s initialization' % # Call the constructor of the parent class morse.core.actuator.Actuator.__init__(self, obj, parent) self._destination = self.bge_object.position #self.local_data['speed'] = 0.0 self.local_data['x'] = self._destination[0] self.local_data['y'] = self._destination[1] self.local_data['z'] = self._destination[2]'Component initialized')
[docs] def default_action(self): """ Move the object towards the destination. """ parent = self.robot_parent self._previous_destination = self._destination self._destination = [ self.local_data['x'], self.local_data['y'], self.local_data['z'] ] # Do nothing at all if: # - we were not ask to actively remain at the last wp # - we already are at destination # - no new destination has been received. if not self._remain_at_destination and \ parent.move_status == "Stop" and \ self._destination == self._previous_destination: return logger.debug("STRAIGHT GOT DESTINATION: {0}".format(self._destination)) logger.debug("Robot {0} move status: '{1}'".format(, parent.move_status)) # Vectors returned are already normalised distance, global_vector, local_vector = self.bge_object.getVectTo(self._destination) logger.debug("My position: {0}".format(self.bge_object.position)) logger.debug("GOT DISTANCE: {0}".format(distance)) logger.debug("Global vector: {0}".format(global_vector)) logger.debug("Local vector: {0}".format(local_vector)) if distance > self._tolerance: # Set the robot status parent.move_status = "Transit" # Scale the speeds to the time used by Blender try: if self._type == 'Position': vx = global_vector[0] * self._speed / self.frequency vy = global_vector[1] * self._speed / self.frequency vz = global_vector[2] * self._speed / self.frequency else: vx = global_vector[0] * self._speed vy = global_vector[1] * self._speed vz = global_vector[2] * self._speed # For the moment ignoring the division by zero # It happens apparently when the simulation starts except ZeroDivisionError: pass # If the target has been reached, change the status else: # Reset movement variables vx, vy, vz = 0.0, 0.0, 0.0 #rx, ry, rz = 0.0, 0.0, 0.0 parent.move_status = "Stop" logger.debug("TARGET REACHED") logger.debug("Robot {0} move status: '{1}'".format(, parent.move_status)) self.robot_parent.apply_speed(self._type, [vx, vy, vz], [0, 0, 0])