Source code for morse.sensors.ptu_posture

import logging; logger = logging.getLogger("morse." + __name__)
import re

from morse.core import blenderapi
import morse.core.sensor
from morse.helpers.components import add_data

[docs]class PTUPosture(morse.core.sensor.Sensor): """ Simple sensor that provides the current rotation angles of the *pan* and *tilt* segments of the :doc:`PTU actuator <../actuators/ptu>`. The angles returned are in radians in the range (-pi, pi). .. note:: This sensor **must** be added as a child of the PTU you want to sense, like in the example below: .. code-block:: python robot = ATRV() ptu = PTU() robot.append(ptu) ptu.translate(z=0.9) ptu = PTUPosture('ptu_pose') ptu.append(ptu_pose) .. note:: The angles are given with respect to the orientation of the robot :sees: :doc:`PTU actuator <../actuators/ptu>`. """ _name = "PTU Pose Sensor" _short_desc = "Returns the pan/tilt values of a pan-tilt unit" add_data('pan', 0.0, "float","pan value, in radians") add_data('tilt', 0.0, "float","tilt value, in radians") def __init__(self, obj, parent=None): """ Constructor method. Receives the reference to the Blender object. The second parameter should be the name of the object's parent. """'%s initialization' % # Call the constructor of the parent class morse.core.sensor.Sensor.__init__(self, obj, parent) ptu = self._get_ptu(self.bge_object) if not ptu: logger.error("The PTU pose sensor has not been parented to a PTU! " + \ "This sensor must be a child of a PTU. Check you scene.") return self._ptu_obj = blenderapi.persistantstorage().componentDict[] self.local_data['pan'] = 0.0 self.local_data['tilt'] = 0.0'Component <%s> initialized, runs at %.2f Hz' % (, self.frequency)) def _get_ptu(self, obj): """ Retrieve the associated PTU actuator Need to carefully deal with possible renaming scheme from Blender, in the case of multiples PTU in the scene. """ regexp_ = "^PanBase(\.[0-9]{3})?$" regexp = re.compile(regexp_) if len([c for c in obj.children if re.match(regexp,]) > 0: return obj elif not obj.parent: return None else: return self._get_ptu(obj.parent)
[docs] def default_action(self): """ Read the rotation of the platine unit """ # Find the actual PTU unit as my child if not self._ptu_obj: return # Update the postition of the base platforms current_pan, current_tilt = self._ptu_obj.get_pan_tilt() logger.debug("Platine: pan=%.4f, tilt=%.4f" % (current_pan, current_tilt)) # Store the data acquired by this sensor that could be sent # via a middleware. self.local_data['pan'] = float(current_pan) self.local_data['tilt'] = float(current_tilt)