class TestForceSensors(TestCore):
def setUp(self):
super().setUp()
self.sensor = ForceSensor('force_sensor')
def test_read(self):
force_vector, torque_vector = self.sensor.read()
self.assertEqual(len(force_vector), 3)
self.assertEqual(len(torque_vector), 3)
class Accelerometer(Object):
"""An object able to measure accelerations that are applied to it.
"""
def __init__(self, name):
super().__init__(name)
self._mass_object = Shape('%s_mass' % (self.get_name()))
self._sensor = ForceSensor('%s_force_sensor' % (self.get_name()))
def _get_requested_type(self) -> ObjectType:
return ObjectType(sim.simGetObjectType(self.get_handle()))
def read(self) -> List[float]:
"""Reads the acceleration applied to accelerometer.
:return: A list containing applied accelerations along
the sensor's x, y and z-axes
"""
forces, _ = self._sensor.read()
accel = [force / self._mass_object.get_mass() for force in forces]
return accel