Motion controller using linear and angular speeds
This actuator reads the values of forwards movement x, sidewards movement y and angular speed w and applies them to the robot as direct translation. This controller is supposed to be used with robots that allow for sidewards movements.
No configurable parameter.
This actuator reads these datafields at each simulation step:
linear velocity in x direction (forward movement) (m/s)
linear velocity in y direction (sidewards movement) (m/s)
angular velocity (rad/s)
Interface support:
This component does not expose any service.
The following example shows how to use this component in a Builder script:
from morse.builder import *
robot = ATRV()
# creates a new instance of the actuator
motionxyw = MotionXYW()
# place your component at the correct location
motionxyw.translate(<x>, <y>, <z>)
motionxyw.rotate(<rx>, <ry>, <rz>)
robot.append(motionxyw)
# define one or several communication interface, like 'socket'
motionxyw.add_interface(<interface>)
env = Environment('empty')
(This page has been auto-generated from MORSE module morse.actuators.xy_omega.)