This sensor returns the linear and angular velocity of the sensor, both in robot frame and in world frame. Linear velocities are expressed in meter . sec ^ -1 while angular velocities are expressed in radian . sec ^ -1.
The sensor expects that the associated robot has a physics controller.
No configurable parameter.
This sensor exports these datafields at each simulation step:
number of milliseconds in simulated time
velocity in sensor x, y, z axes (in meter . sec ^ -1)
rates in sensor x, y, z axes (in radian . sec ^ -1)
velocity in world x, y, z axes (in meter . sec ^ -1)
Interface support:
Returns the properties of a component.
Return value
a dictionary of the current component’s properties
Returns the configurations of a component (parsed from the properties).
Return value
a dictionary of the current component’s configurations
Returns the current data stored in the sensor.
Return value
a dictionary of the current sensor’s data
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
velocity = Velocity()
# place your component at the correct location
velocity.translate(<x>, <y>, <z>)
velocity.rotate(<rx>, <ry>, <rz>)
robot.append(velocity)
# define one or several communication interface, like 'socket'
velocity.add_interface(<interface>)
env = Environment('empty')
(This page has been auto-generated from MORSE module morse.sensors.velocity.)