PTU posture sensor

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).

To use this sensor, it must be installed as the parent of the PTU actuator. For example, using the Builder API, the PTU actuator and PTU posture sensor must be defined as

PTU_posture = Sensor('ptu_posture')
PTU_posture.translate(x=0.2020, y=0.0072, z=1.4400)
Jido.append(PTU_posture)

PTU = Actuator('ptu')
PTU_posture.append(PTU)

Files

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

Local data

  • pan: (float) X coordinate of the sensor
  • tilt: (float) Y coordinate of the sensor

Note

The angles are given with respect to the orientation of the robot

Applicable modifiers

No applicable modifiers at the moment.

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