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
sees: | PTU actuator. |
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No configurable parameter.
This sensor exports these datafields at each simulation step:
pan value, in radians
tilt value, in radians
Interface support:
Returns the current data stored in the sensor.
Return value
a dictionary of the current sensor’s data
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 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')
(This page has been auto-generated from MORSE module morse.sensors.ptu_posture.)