Source code for morse.actuators.orientation
import logging; logger = logging.getLogger("morse." + __name__)
import morse.core.actuator
from morse.helpers.components import add_data
from morse.core import mathutils
[docs]class Orientation(morse.core.actuator.Actuator):
"""
Motion controller changing immediately the robot orientation.
This actuator reads the values of angles of rotation around the 3
axis and applies them to the associated robot. This rotation is
applied instantly (not in a realist way). Angles are expected in
radians.
"""
_name = "Orientation Actuator"
_short_desc = "An actuator to change instantly robot orientation."
add_data('yaw', 'Initial robot yaw', "float",
'Rotation of the robot around Z axis, in radian')
add_data('pitch', 'Initial robot pitch', "float",
'Rotation of the robot around Y axis, in radian')
add_data('roll', 'Initial robot roll', "float",
'Rotation of the robot around X axis, in radian')
def __init__(self, obj, parent=None):
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
super(self.__class__, self).__init__(obj, parent)
self.orientation = self.bge_object.orientation.to_euler('XYZ')
self.local_data['yaw'] = self.orientation.z
self.local_data['pitch'] = self.orientation.y
self.local_data['roll'] = self.orientation.x
logger.info('Component initialized')
[docs] def default_action(self):
""" Change the parent robot orientation. """
# Get the Blender object of the parent robot
parent = self.robot_parent.bge_object
# New parent orientation
orientation = mathutils.Euler([self.local_data['roll'], \
self.local_data['pitch'], \
self.local_data['yaw']])
# Suspend Bullet physics engine, which doesnt like teleport
# or instant rotation done by the Orientation actuator (avoid tilt)
parent.suspendDynamics()
parent.worldOrientation = orientation.to_matrix()
parent.restoreDynamics()