import logging; logger = logging.getLogger("morse." + __name__)
import morse.core.actuator
from morse.core.services import service
from morse.core import mathutils
from morse.helpers.components import add_data
from morse.helpers.transformation import Transformation3d
[docs]class Teleport(morse.core.actuator.Actuator):
"""
This actuator teleports the robot to the absolute position and
orientation with respect to the origin of the Blender coordinate
reference. Angles are expected in radians.
.. note::
Coordinates are given with respect to the origin of
Blender's coordinate axis.
"""
_name = "Teleport"
_short_desc = "Motion controller which changes instantly robot pose \
(position and orientation)"
add_data('x', 'initial robot X position', "float",
"X coordinate of the destination, in meter")
add_data('y', 'initial robot Y position', "float",
"Y coordinate of the destination, in meter")
add_data('z', 'initial robot Z position', "float",
"Z coordinate of the destination, in meter")
add_data('yaw', 'Initial robot yaw', "float",
'Rotation of the robot around Z axis, in radian')
add_data('pitch', 'Initial robot pitch', "float",
'Rotation of the robot around Y axis, in radian')
add_data('roll', 'Initial robot roll', "float",
'Rotation of the robot around X axis, in radian')
def __init__(self, obj, parent=None):
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
morse.core.actuator.Actuator.__init__(self, obj, parent)
pose3d = self.position_3d
self.local_data['x'] = pose3d.x
self.local_data['y'] = pose3d.y
self.local_data['z'] = pose3d.z
self.local_data['roll'] = pose3d.roll
self.local_data['pitch'] = pose3d.pitch
self.local_data['yaw'] = pose3d.yaw
self.actuator2robot = self.position_3d.transformation3d_with(self.robot_parent.position_3d)
logger.info('Component initialized')
[docs] @service
def translate(self, x, y = 0.0, z = 0.0):
"""
Translate the actuator owner by the given (x,y,z) vector.
This is a **relative** displacement.
:param x: X translation, in meter
:param y: (default: 0.0) Y translation, in meter
:param z: (default: 0.0) Z translation, in meter
"""
self.local_data['x'] += x
self.local_data['y'] += y
self.local_data['z'] += z
[docs] @service
def rotate(self, roll, pitch = 0.0, yaw=0.0):
"""
Rotates the actuator owner by the given (roll,pitch,yaw).
This is a **relative** rotation.
:param roll: roll rotation, in radians
:param pitch: (default: 0.0) pitch rotation, in radians
:param yaw: (default: 0.0) yaw rotation, in radians
"""
self.local_data['roll'] += roll
self.local_data['pitch'] += pitch
self.local_data['yaw'] += yaw
[docs] def default_action(self):
""" Change the parent robot pose. """
# New parent position
position = mathutils.Vector((self.local_data['x'],
self.local_data['y'],
self.local_data['z']))
# New parent orientation
orientation = mathutils.Euler([self.local_data['roll'],
self.local_data['pitch'],
self.local_data['yaw']])
world2actuator = Transformation3d(None)
world2actuator.translation = position
world2actuator.rotation = orientation
(loc, rot, _) = (world2actuator.matrix * self.actuator2robot.matrix).decompose()
self.robot_parent.force_pose(loc, rot)
