Pose

This sensor returns the full pose of the sensor, i.e. both translation and rotation with respect to the Blender world frame.

Configuration parameters for pose

No configurable parameter.

Data fields

This sensor exports these datafields at each simulation step:

  • timestamp (float, initial value: 0.0)

    number of milliseconds in simulated time

  • x (float, initial value: 0.0)

    x coordinate of the sensor, in world coordinate, in meter

  • y (float, initial value: 0.0)

    y coordinate of the sensor, in world coordinate, in meter

  • z (float, initial value: 0.0)

    z coordinate of the sensor, in world coordinate, in meter

  • yaw (float, initial value: 0.0)

    rotation around the Z axis of the sensor, in radian

  • pitch (float, initial value: 0.0)

    rotation around the Y axis of the sensor, in radian

  • roll (float, initial value: 0.0)

    rotation around the X axis of the sensor, in radian

Interface support:

Services for Pose

  • get_configurations() (blocking)

    Returns the configurations of a component (parsed from the properties).

    • Return value

      a dictionary of the current component’s configurations

  • get_local_data() (blocking)

    Returns the current data stored in the sensor.

    • Return value

      a dictionary of the current sensor’s data

  • get_properties() (blocking)

    Returns the properties of a component.

    • Return value

      a dictionary of the current component’s properties

Examples

The following examples show how to use this component in a Builder script:

from morse.builder import *

robot = ATRV()

# creates a new instance of the sensor
pose = Pose()

# place your component at the correct location
pose.translate(<x>, <y>, <z>)
pose.rotate(<rx>, <ry>, <rz>)

robot.append(pose)

# define one or several communication interface, like 'socket'
pose.add_interface(<interface>)

env = Environment('empty')

Other sources of examples

(This page has been auto-generated from MORSE module morse.sensors.pose.)

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