Odometry sensor

This sensor produces relative displacement with respect to the position and rotation in the previous Blender tick. The position and orientation data is taken from the sensor’s position_3d structure

The angles for yaw, pitch and roll are given in radians.

Files

  • Blender: $MORSE_ROOT/data/sensors/odometry.blend
  • Python: $MORSE_ROOT/src/morse/sensors/odometry.py

Local data

  • dx: (float) delta of X coordinate of the sensor
  • dy: (float) delta of Y coordinate of the sensor
  • dz: (float) delta of Z coordinate of the sensor
  • dyaw: (float) delta of rotation angle with respect to the Z axis
  • dpitch: (float) delta of rotation angle with respect to the Y axis
  • droll: (float) delta of rotation angle with respect to the X axis

Applicable modifiers

This sensor always provides perfect data. To obtain more realistic readings, it is recommended to add modifiers.

  • Noise modifier: Adds random Gaussian noise to the data

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