Source code for morse.actuators.xy_omega

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

[docs]class MotionXYW(morse.core.actuator.Actuator): """ This actuator reads the values of forwards movement x, sidewards movement y and angular speed w and applies them to the robot as direct translation. This controller is supposed to be used with robots that allow for sidewards movements. """ _name = 'Linear and angular speed (Vx, Vy, W) actuator' _short_desc = 'Motion controller using linear and angular speeds' add_data('x', 0.0, 'float', 'linear velocity in x direction (forward movement) (m/s)') add_data('y', 0.0, 'float', 'linear velocity in y direction (sidewards movement) (m/s)') add_data('w', 0.0, 'float', 'angular velocity (rad/s)') add_property('_type', 'Velocity', 'ControlType', 'string', "Kind of control, can be one of ['Velocity', 'Position']") def __init__(self, obj, parent=None):'%s initialization' % # Call the constructor of the parent class morse.core.actuator.Actuator.__init__(self, obj, parent)'Component initialized')
[docs] def default_action(self): """ Apply (x, y, w) to the parent robot. """ # Reset movement variables vx, vy, vz = 0.0, 0.0, 0.0 rx, ry, rz = 0.0, 0.0, 0.0 # Scale the speeds to the time used by Blender try: if self._type == 'Position': vx = self.local_data['x'] / self.frequency vy = self.local_data['y'] / self.frequency rz = self.local_data['w'] / self.frequency else: vx = self.local_data['x'] vy = self.local_data['y'] rz = self.local_data['w'] # For the moment ignoring the division by zero # It happens apparently when the simulation starts except ZeroDivisionError: pass self.robot_parent.apply_speed(self._type, [vx, vy, vz], [rx, ry, rz])