Straight line movement

This actuator reads the coordinates of a destination point, and moves the robot in a straight line towards the given point, without turning. It provides a very simplistic movement, and can be used for testing or for robots with holonomic movement. The speeds provided are internally adjusted to the Blender time measure.

Files

  • Blender: $MORSE_ROOT/data/actuators/destination.blend
  • Python: $MORSE_ROOT/src/morse/actuators/destination.py

Local data

  • x: (float) Destination X coordinate
  • y: (float) Destination Y coordinate
  • z: (float) Destination Z coordinate

Note

Coordinates are given with respect to the origin of Blender’s coordinate axis.

Properties

  • Speed: (float) The robot speed in Blender units per second
  • Tolerance: (float) The tolerance to determine if the target has been reached

Note

Properties are modifiable in the Builder API. Example:

atrv = Robot('atrv')
dest = Actuator('destination')
atrv.append(dest)
dest.properties(Speed=2.5, Tolerance=0.5)

Applicable modifiers

  • UTM modifier: Will add an offset to the Blender coordinates according to the parameters set on the scene.
  • NED: Changes the coordinate reference to use North (X), East (Y), Down (Z)

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