Source code for morse.actuators.v_omega

import logging; logger = logging.getLogger("morse." + __name__)
from morse.core.services import service
import morse.core.actuator
from morse.helpers.components import add_data, add_property

[docs]class MotionVW(morse.core.actuator.Actuator): """ This actuator reads the values of linear and angular speed and applies them to the robot as direct translation. The speeds provided are internally adjusted to the Blender time measure. """ _name = 'Linear and angular speed (V, W) actuator' _short_desc = 'Motion controller using linear and angular speeds' add_data('v', 0.0, 'float', 'linear velocity in x direction (forward movement) (m/s)') add_data('w', 0.0, 'float', 'angular velocity (rad/s)') add_property('_type', 'Velocity', 'ControlType', 'string', "Kind of control, can be one of ['Velocity', 'Position']") 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) logger.info('Component initialized') @service
[docs] def set_speed(self, v, w): """ Modifies v and w according to the parameters :param v: desired linear velocity (meter by second) :param w: desired angular velocity (radian by second) """ self.local_data['v'] = v self.local_data['w'] = w
@service
[docs] def stop(self): """ Stop the robot Internally, it sets (v, w) to (0.0, 0.0) """ self.local_data['v'] = 0.0 self.local_data['w'] = 0.0
[docs] def default_action(self): """ Apply (v, w) to the parent robot. """ # Reset movement variables vx, vy, vz = 0.0, 0.0, 0.0 rx, ry, rz = 0.0, 0.0, 0.0 # Scale the speeds to the time used by Blender try: if self._type == 'Position': vx = self.local_data['v'] / self.frequency rz = self.local_data['w'] / self.frequency elif self._type == 'Velocity': vx = self.local_data['v'] rz = self.local_data['w'] # For the moment ignoring the division by zero # It happens apparently when the simulation starts except ZeroDivisionError: pass self.robot_parent.apply_speed(self._type, [vx, vy, vz], [rx, ry, rz])