Source code for morse.actuators.orientation

import logging; logger = logging.getLogger("morse." + __name__)
import morse.core.actuator
from morse.helpers.components import add_data
from morse.core import mathutils

[docs]class Orientation(morse.core.actuator.Actuator): """ Motion controller changing immediately the robot orientation. This actuator reads the values of angles of rotation around the 3 axis and applies them to the associated robot. This rotation is applied instantly (not in a realist way). Angles are expected in radians. """ _name = "Orientation Actuator" _short_desc = "An actuator to change instantly robot orientation." 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) self.orientation = self.bge_object.orientation.to_euler('XYZ') self.local_data['yaw'] = self.orientation.z self.local_data['pitch'] = self.orientation.y self.local_data['roll'] = self.orientation.x logger.info('Component initialized')
[docs] def default_action(self): """ Change the parent robot orientation. """ # New parent orientation orientation = mathutils.Euler([self.local_data['roll'], self.local_data['pitch'], self.local_data['yaw']]) self.robot_parent.force_pose(None, orientation.to_matrix())