An odometry sensor that returns raw, partially integrated or fully integrated displacement information.
This sensor produces relative displacement with respect to the position and rotation in the previous Blender tick. It can compute too the position of the robot with respect to its original position, and the associated speed.
The angles for yaw, pitch and roll are given in radians.
Note
This sensor always provides perfect data. To obtain more realistic readings, it is recommended to add modifiers.
No configurable parameter.
Functional levels are predefined abstraction or realism levels for the sensor.
At this level, the sensor exports these datafields at each simulation step:
Interface support:
At this level, the sensor exports these datafields at each simulation step:
Interface support:
At this level, the sensor exports these datafields at each simulation step:
Interface support:
Returns the current data stored in the sensor.
Return value
a dictionary of the current sensor’s data
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
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
odometry = Odometry()
# place your component at the correct location
odometry.translate(<x>, <y>, <z>)
odometry.rotate(<rx>, <ry>, <rz>)
# select a specific abstraction level (cf below), or skip it to use default level
odometry.level(<level>)
robot.append(odometry)
# define one or several communication interface, like 'socket'
odometry.add_interface(<interface>)
env = Environment('empty')
(This page has been auto-generated from MORSE module morse.sensors.odometry.)