Source code for morse.sensors.gyroscope
import logging; logger = logging.getLogger("morse." + __name__)
import morse.core.sensor
from morse.helpers.components import add_data
[docs]class Gyroscope(morse.core.sensor.Sensor):
"""
This sensor emulates a Gyroscope, providing the yaw, pitch and roll
angles of the sensor object with respect to the Blender world
reference axes.
Angles are given in radians.
"""
_name = "Gyroscope"
add_data('yaw', 0.0, "float", \
'rotation around the Z axis of the sensor, in radian')
add_data('pitch', 0.0, "float", \
'rotation around the Y axis of the sensor, in radian')
add_data('roll', 0.0, "float", \
'rotation around the X axis of the sensor, in radian')
def __init__(self, obj, parent=None):
""" Constructor method.
Receives the reference to the Blender object.
The second parameter should be the name of the object's parent.
"""
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
super(self.__class__, self).__init__(obj, parent)
logger.info('Component initialized')
[docs] def default_action(self):
""" Get the yaw, pitch and roll of the blender object. """
yaw = self.position_3d.yaw
pitch = self.position_3d.pitch
roll = self.position_3d.roll
# Store the values in the robot's object
self.robot_parent.yaw = yaw
self.robot_parent.pitch = pitch
self.robot_parent.roll = roll
# Store the data acquired by this sensor that could be sent
# via a middleware.
self.local_data['yaw'] = float(yaw)
self.local_data['pitch'] = float(pitch)
self.local_data['roll'] = float(roll)