Source code for morse.robots.segwayrmp400

import logging; logger = logging.getLogger("morse." + __name__)
import morse.core.wheeled_robot

[docs]class SegwayRMP400PhysicsClass(morse.core.wheeled_robot.MorsePhysicsRobotClass): """ Class definition for the Segway RMP400 base. Sub class of Morse_Object. """ def __init__(self, obj, parent=None): """ Constructor method. Receives the reference to the Blender object. Optionally it gets the name of the object's parent, but that information is not currently used for a robot. """ logger.info('%s initialization' % obj.name) # Call the constructor of the parent class super(self.__class__,self).__init__(obj, parent) # XXX: Hack to make the robot turn at the expected speed # using the v_omega_differential_drive actuator # Real distance between the wheel objects in Blender: #self._trackWidth = 0.624 # Best working when using this distance, obtained by comparing the # trayectories followed by this robot with those of the ATRV with # the regular v_omega actuator if obj['FixTurningSpeed'] != 0: self._trackWidth = obj['FixTurningSpeed'] logger.warn("Using wheel separation of %.4f" % self._trackWidth) #self._trackWidth = 1.23 #self._trackWidth = 1.248 #self._trackWidth = 1.425 logger.info('Component initialized')
[docs] def default_action(self): """ Main function of this component. """ pass