Magnetometer¶
This sensor computes the magnetic field vector, at the sensor position. It relies on the WMM2015 model, available at NOAA.
Warning
For proper computation, the sensor needs a real position on Earth, and so the following properties should be added 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
- optionnaly angle_against_north in degrees is the angle between geographic north and the blender X axis. angle_against_north is positive when the blender X-axis is east of true north, and negative when it is to the west.
Configuration parameters for Magnetometer¶
You can set these properties in your scripts with <component>.properties(<property1>=..., <property2>=...)
.
date
(float, default:None
)- the date used to adjust for magnetic field. If not precised, consider the today date
Data fields¶
This sensor exports these datafields at each simulation step:
timestamp
(float, initial value:0.0
)- number of seconds in simulated time
x
(float, initial value:0.0
)- Northern component of the magnetic field vector, in nT
y
(float, initial value:0.0
)- Eastern component of the magnetic field vector, in nT
z
(float, initial value:0.0
)- Downward component of the magnetic field vector, in nT
Interface support:
socket
as straight JSON serialization (morse.middleware.socket_datastream.SocketPublisher
)yarp
as YarpPublisher (morse.middleware.yarp_datastream.YarpPublisher
)moos
as StringPublisher (morse.middleware.moos.abstract_moos.StringPublisher
)text
as key = value format with timestamp and index value (morse.middleware.text_datastream.Publisher
)
Services for Magnetometer¶
get_configurations()
(blocking)Returns the configurations of a component (parsed from the properties).
Return value
a dictionary of the current component’s configurations
get_local_data()
(blocking)Returns the current data stored in the sensor.
Return value
a dictionary of the current sensor’s data
get_properties()
(blocking)Returns the properties of a component.
Return value
a dictionary of the current component’s properties
set_property(prop_name, prop_val)
(blocking)Modify one property on a component
Parameters
prop_name
: the name of the property to modify (as shown the documentation)prop_val
: the new value of the property. Note that there is no checking about the type of the value so be careful
Return value
nothing
Examples¶
The following examples show how to use this component in a Builder script:
from morse.builder import *
# adds a default robot (the MORSE mascott!)
robot = Morsy()
# creates a new instance of the sensor
magnetometer = Magnetometer()
# place your component at the correct location
magnetometer.translate(<x>, <y>, <z>)
magnetometer.rotate(<rx>, <ry>, <rz>)
robot.append(magnetometer)
# define one or several communication interface, like 'socket'
magnetometer.add_interface(<interface>)
env = Environment('empty')
Other sources of examples¶
(This page has been auto-generated from MORSE module morse.sensors.magnetometer.)