morse.modifiers package¶
Submodules¶
morse.modifiers.abstract_modifier module¶
morse.modifiers.ecef module¶
-
class
CoordinatesFromECEF
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.ecef.ECEFmodifier
Converts from UTM coordinates to Blender coordinates.
-
class
CoordinatesToECEF
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.ecef.ECEFmodifier
Converts from Blender coordinates to ECEF coordinates.
-
class
ECEFmodifier
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.abstract_modifier.AbstractModifier
This modifier converts the coordinates from MORSE simulator (in LTP) into ECEF-r coordinates.
To work properly, you need to configure the following variables at the environment level:
- longitude in degrees (double) of Blender origin
- latitude in degrees (double) of Blender origin
- altitude in m of the Blender origin
The ECEF modifier provides as modifiers:
morse.modifiers.feet module¶
-
class
FeetModifier
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.abstract_modifier.AbstractModifier
This modifier converts datas from imperial units to metrics units and vice-versa.
The Feet modifier provides as modifiers:
-
class
FeetToMeter
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.feet.FeetModifier
Converts Feet to Meter
-
class
MeterToFeet
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.feet.FeetModifier
Converts Meter (Morse) to Feet
morse.modifiers.geocentric module¶
-
class
CoordinatesFromGeocentric
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.geocentric.Geocentricmodifier
Converts from Geocentric coordinates to Blender coordinates.
-
class
CoordinatesToGeocentric
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.geocentric.Geocentricmodifier
Converts from Blender coordinates to Geocentric coordinates.
-
class
Geocentricmodifier
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.abstract_modifier.AbstractModifier
This modifier converts the coordinates from MORSE simulator (in LTP) into Geocentric coordinates.
To work properly, you need to configure the following variables at the environment level:
- longitude in degrees (double) of Blender origin
- latitude in degrees (double) of Blender origin
- altitude in m of the Blender origin
The Geocentric modifier provides as modifiers:
morse.modifiers.ecef.CoordinatesToGeocentric
morse.modifiers.ecef.CoordinatesFromGeocentric
morse.modifiers.geodetic module¶
-
class
CoordinatesFromGeodetic
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.geodetic.Geodeticmodifier
Converts from Geodetic coordinates to Blender coordinates.
-
class
CoordinatesToGeodetic
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.geodetic.Geodeticmodifier
Converts from Blender coordinates to Geodetic coordinates.
-
class
Geodeticmodifier
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.abstract_modifier.AbstractModifier
This modifier converts the coordinates from MORSE simulator (in LTP) into Geodetic coordinates.
To work properly, you need to configure the following variables at the environment level:
- longitude in degrees (double) of Blender origin
- latitude in degrees (double) of Blender origin
- altitude in m of the Blender origin
The Geodetic modifier provides as modifiers:
morse.modifiers.ecef.CoordinatesToGeodetic
morse.modifiers.ecef.CoordinatesFromGeodetic
morse.modifiers.imu_noise module¶
-
class
IMUNoiseModifier
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.abstract_modifier.AbstractModifier
This modifier allows to simulate Gaussian noise for accelerometer and gyroscope sensors of an IMU. No bias is modeled so far.
morse.modifiers.ned module¶
-
class
AnglesFromNED
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.ned.NEDModifier
Convert the angles from NED to ENU.
-
class
AnglesToNED
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.ned.NEDModifier
Convert the angles from ENU to NED.
-
class
CoordinatesFromNED
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.ned.NEDModifier
Convert the coordinates from NED to ENU.
-
class
CoordinatesToNED
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.ned.NEDModifier
Convert the coordinates from ENU to NED.
-
class
NEDModifier
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.abstract_modifier.AbstractModifier
This modifier converts the coordinates generated by the MORSE simulator to change to the North, East, Down (NED) coordinate system, instead of the East, North, Up (ENU) system normally used by Blender.
This is achieved by switching the direction of the X and Y axis, as well as inverting the sense of the Z axis.
This modifier attempts to alter data
x
,y
andz
for position, andyaw
,pitch
androll
for orientation.The NED modifier provides as modifiers:
morse.modifiers.odometry_noise module¶
-
class
OdometryNoiseModifier
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.abstract_modifier.AbstractModifier
This modifier allows to simulate two common issues when calculating odometry :
- an error in the scale factor used to compute the distance from the value returned by the odometer (parameter factor)
- the gyroscope natural drift (parameter gyro_drift (rad by tick))
The modifier only accumulate errors for a 2D odometry sensor. It modifies so the following variables :
- dS by the scale factor
- dx considering the scale factor and gyroscope drift
- dy considering the scale factor and gyroscope drift
- dyaw considering the gyroscope drift
- x considering the scale factor and gyroscope drift
- y considering the scale factor and gyroscope drift
- yaw considering the gyroscope drift
- vx considering the new dx
- vy considering the new dy
- wz considering the new dyaw
noisify
: Simulate drift of gyroscope and possible error in the scale factor
morse.modifiers.pose_noise module¶
-
class
NoiseModifier
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.abstract_modifier.AbstractModifier
This modifier allows to simulate Gaussian noise for pose measurements. If the variable
orientation
exists, it is taken to be a unit quaternion and noise added to it. Otherwise rotational noise will be added to the roll, pitch and yaw variables.This modifier attempts to alter data
x
,y
andz
for position, and eitherorientation
oryaw
,pitch
androll
for orientation.The PoseNoise modifier provides as modifiers:
-
class
OrientationNoiseModifier
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.pose_noise.NoiseModifier
Add a gaussian noise to an orientation
-
class
PoseNoiseModifier
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.pose_noise.PositionNoiseModifier
,morse.modifiers.pose_noise.OrientationNoiseModifier
Add a gaussian noise to both position and orientation
-
class
PositionNoiseModifier
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.pose_noise.NoiseModifier
Add a gaussian noise to a position
morse.modifiers.utm module¶
-
class
CoordinatesFromUTM
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.utm.UTMModifier
Converts from UTM coordinates to Blender coordinates.
-
class
CoordinatesToUTM
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.utm.UTMModifier
Converts from Blender coordinates to UTM coordinates.
-
class
UTMModifier
(component_instance, kwargs)[source]¶ Bases:
morse.modifiers.abstract_modifier.AbstractModifier
This modifier converts the coordinates generated by the MORSE simulator to use UTM global coordinates. This is achieved by setting the offset of the Blender origin with respect to the UTM reference. The offset can be either given in the modifier parameters, or globally defined as three properties of the
Scene_Script_Holder
object of the scene:UTMXOffset
,UTMYOffset
andUTMZOffset
.Note
Due to limitation in Blender, to pass offset outside of range [-10000.0, 10000.0] as global scene properties, you need to pass the offset value as a string.
This modifier attempts to alter data
x
,y
andz
of modified components.The UTM modifier provides as modifiers: