Teleport¶
Motion controller which changes instantly robot pose (position and orientation)
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.
Configuration parameters for Teleport¶
No configurable parameter.
Data fields¶
This actuator reads these datafields at each simulation step:
x
(float, initial value:initial robot X position
)- X coordinate of the destination, in meter
y
(float, initial value:initial robot Y position
)- Y coordinate of the destination, in meter
z
(float, initial value:initial robot Z position
)- Z coordinate of the destination, in meter
yaw
(float, initial value:Initial robot yaw
)- Rotation of the robot around Z axis, in radian
pitch
(float, initial value:Initial robot pitch
)- Rotation of the robot around Y axis, in radian
roll
(float, initial value:Initial robot roll
)- Rotation of the robot around X axis, in radian
Interface support:
ros
as geometry_msgs/Pose (morse.middleware.ros.read_pose.PoseReader
)socket
as straight JSON deserialization (morse.middleware.socket_datastream.SocketReader
)yarp
as YarpReader (morse.middleware.yarp_datastream.YarpReader
)moos
as PoseReader (morse.middleware.moos.pose.PoseReader
)pprzlink
as RotorcraftPose (morse.middleware.pprzlink.set_rotorcraft_pose.RotorcraftPose
)
Services for Teleport¶
get_configurations()
(blocking)Returns the configurations of a component (parsed from the properties).
Return value
a dictionary of the current component’s configurations
get_properties()
(blocking)Returns the properties of a component.
Return value
a dictionary of the current component’s properties
rotate(roll, pitch, yaw)
(blocking)Rotates the actuator owner by the given (roll,pitch,yaw).
This is a relative rotation.
- Parameters
roll
: roll rotation, in radianspitch
: (default: 0.0) pitch rotation, in radiansyaw
: (default: 0.0) yaw rotation, in radians
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
translate(x, y, z)
(blocking)Translate the actuator owner by the given (x,y,z) vector.
This is a relative displacement.
- Parameters
x
: X translation, in metery
: (default: 0.0) Y translation, in meterz
: (default: 0.0) Z translation, in meter
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 actuator
teleport = Teleport()
# place your component at the correct location
teleport.translate(<x>, <y>, <z>)
teleport.rotate(<rx>, <ry>, <rz>)
robot.append(teleport)
# define one or several communication interface, like 'socket'
teleport.add_interface(<interface>)
env = Environment('empty')
Other sources of examples¶
(This page has been auto-generated from MORSE module morse.actuators.teleport.)