Source code for morse.middleware.moos.pose
import logging; logger = logging.getLogger("morse." + __name__)
import pymoos.MOOSCommClient
from morse.middleware.moos import AbstractMOOS
from morse.core import blenderapi
[docs]class PoseNotifier(AbstractMOOS):
""" Notify Pose """
[docs] def default(self, ci='unused'):
cur_time=pymoos.MOOSCommClient.MOOSTime()
# post the simulation time so that it can be synced to MOOSTime
self.m.Notify('actual_time',
blenderapi.persistantstorage().current_time, cur_time)
# post the robot position
self.m.Notify('simEast', self.data['x'], cur_time)
self.m.Notify('simNorth', self.data['y'], cur_time)
self.m.Notify('simHeight', self.data['z'], cur_time)
self.m.Notify('simYaw', self.data['yaw'], cur_time)
self.m.Notify('simRoll', self.data['roll'], cur_time)
self.m.Notify('simPitch', self.data['pitch'], cur_time)