Source code for morse.sensors.radar_altimeter

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

[docs]class RadarAltimeter(Sensor): """ Sensor to compute the distance to the ground To work properly, the ground and relevant obstacles must be marked as Actor. """ _name = "Radar Altimeter" _short_desc = "Compute the distance to the ground" add_data('z', 0.0, "float", 'Distance to "ground"') add_property('_max_range', 30.0, "MaxRange", "float", "Maximum distance to which ground is detected." "If nothing is detected, return +infinity") def __init__(self, obj, parent=None): """ Constructor method. """'%s initialization' % # Call the constructor of the parent class Sensor.__init__(self, obj, parent)'Component initialized, runs at %.2f Hz', self.frequency)
[docs] def default_action(self): """ Send a laser directly underneath and check the position of what it hits. """ target = self.position_3d.translation target[2] -= 1.0 _, point, _ = self.bge_object.rayCast(target, None, self._max_range) logger.debug("RadarAltimeter points to %s and hits %s" % (target, point)) if point: self.local_data['z'] = self.bge_object.getDistanceTo(point) else: self.local_data['z'] = float('inf')