PTU Pose Sensor¶
Returns the pan/tilt values of a pan-tilt unit
Simple sensor that provides the current rotation angles of the pan and tilt segments of the PTU actuator. The angles returned are in radians in the range (-pi, pi).
Note
This sensor must be added as a child of the PTU you want to sense, like in the example below:
robot = ATRV()
ptu = PTU()
robot.append(ptu)
ptu.translate(z=0.9)
ptu = PTUPosture('ptu_pose')
ptu.append(ptu_pose)
Note
The angles are given with respect to the orientation of the robot
See also: PTU actuator.
Configuration parameters for PTU Pose Sensor¶
No configurable parameter.
Data fields¶
This sensor exports these datafields at each simulation step:
timestamp
(float, initial value:0.0
)number of seconds in simulated time
pan
(float, initial value:0.0
)pan value, in radians
tilt
(float, initial value:0.0
)tilt value, in radians
Interface support:
text
as key = value format with timestamp and index value (morse.middleware.text_datastream.Publisher
)pocolibs
as PLATINE_STATES (morse.middleware.pocolibs.sensors.platine_posture.PlatinePoster
)socket
as straight JSON serialization (morse.middleware.socket_datastream.SocketPublisher
)yarp
as yarp::Bottle (morse.middleware.yarp_datastream.YarpPublisher
)ros
as JointStatePublisher (morse.middleware.ros.jointstate.JointStatePublisher
)
Services for PTU Pose Sensor¶
get_properties()
(blocking)Returns the properties of a component.
Return value
a dictionary of the current component’s properties
set_property(prop_name, prop_val)
(blocking)Modify one property on a component
Parameters
prop_name
: the name of the property to modify (as shown the documentation)prop_val
: the new value of the property. Note that there is no checking about the type of the value so be careful
Return value
nothing
get_local_data()
(blocking)Returns the current data stored in the sensor.
Return value
a dictionary of the current sensor’s data
get_configurations()
(blocking)Returns the configurations of a component (parsed from the properties).
Return value
a dictionary of the current component’s configurations
Examples¶
The following examples show how to use this component in a Builder script:
from morse.builder import *
# adds a default robot (the MORSE mascott!)
robot = Morsy()
# creates a new instance of the sensor
ptuposture = PTUPosture()
# place your component at the correct location
ptuposture.translate(<x>, <y>, <z>)
ptuposture.rotate(<rx>, <ry>, <rz>)
robot.append(ptuposture)
# define one or several communication interface, like 'socket'
ptuposture.add_interface(<interface>)
env = Environment('empty')
Other sources of examples¶
(This page has been auto-generated from MORSE module morse.sensors.ptu_posture.)