def __init__(self, date = None):
from morse.sensors._magnetometer import Magnetometer as Mag
self._mag = Mag(os.path.join(MORSE_COMPONENTS, 'WMM.COF'))
self._coord_conv = CoordinateConverter.instance()
if date:
self._date = date
else:
self._date = _decimal_date(datetime.date.today())
def __init__(self, date=None):
from morse.sensors._magnetometer import Magnetometer as Mag
self._mag = Mag(os.path.join(MORSE_COMPONENTS, 'WMM.COF'))
self._coord_conv = CoordinateConverter.instance()
if date:
self._date = date
else:
self._date = _decimal_date(datetime.date.today())
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. """
# Call the constructor of the parent class
GPS.__init__(self, obj, parent)
# Variables to store the previous LTP position
self.pltp = None
self.v = [0.0, 0.0, 0.0]
self.coord_converter = CoordinateConverter.instance()
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. """
# Call the constructor of the parent class
GPS.__init__(self, obj, parent)
# Variables to store the previous LTP position
self.pltp = None
self.v = [0.0, 0.0, 0.0]
self.coord_converter = CoordinateConverter.instance()
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. """
# Call the constructor of the parent class
GPS.__init__(self, obj, parent)
##copied from accelerometer
# Variables to store the previous position
self.ppx = 0.0
self.ppy = 0.0
self.ppz = 0.0
# Variables to store the previous velocity
self.pvx = 0.0
self.pvy = 0.0
self.pvz = 0.0
# Make a new reference to the sensor position
self.p = self.bge_object.position
self.v = [0.0, 0.0, 0.0] # Velocity
self.pv = [0.0, 0.0, 0.0] # Previous Velocity
self.coord_converter = CoordinateConverter.instance()
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. """
# Call the constructor of the parent class
GPS.__init__(self, obj, parent)
##copied from accelerometer
# Variables to store the previous position
self.ppx = 0.0
self.ppy = 0.0
self.ppz = 0.0
# Variables to store the previous velocity
self.pvx = 0.0
self.pvy = 0.0
self.pvz = 0.0
# Make a new reference to the sensor position
self.p = self.bge_object.position
self.v = [0.0, 0.0, 0.0] # Velocity
self.pv = [0.0, 0.0, 0.0] # Previous Velocity
self.coord_converter = CoordinateConverter.instance()
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
morse.core.sensor.Sensor.__init__(self, obj, parent)
has_physics = bool(self.robot_parent.bge_object.getPhysicsId())
if self._type == 'Automatic':
if has_physics:
self._type = 'Velocity'
else:
self._type = 'Position'
if self._type == 'Velocity' and not has_physics:
logger.error("Invalid configuration : Velocity computation without "
"physics")
return
if self._type == 'Velocity':
# make new references to the robot velocities and use those.
self.robot_w = self.robot_parent.bge_object.localAngularVelocity
else:
# previous attitude euler angles as vector
self.pp = copy(self.position_3d)
if self._use_angle_against_north:
self._coord_converter = CoordinateConverter.instance()
# imu2body will transform a vector from imu frame to body frame
self.imu2body = self.sensor_to_robot_position_3d()
# rotate vector from body to imu frame
self.rot_b2i = self.imu2body.rotation.conjugated()
logger.info("Attitude Component initialized, runs at %.2f Hz ", self.frequency)
def __init__(self, obj, parent=None):
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
morse.core.actuator.Actuator.__init__(self, obj, parent)
#logger.setLevel(logging.DEBUG)
# Make new reference to the robot velocities (mathutils.Vector)
self.robot_w = self.robot_parent.bge_object.localAngularVelocity
# get the robot inertia (list [ix, iy, iz])
robot_inertia = self.robot_parent.bge_object.localInertia
self.inertia = Vector(tuple(robot_inertia))
logger.debug("robot inertia: (%.3f %.3f %.3f)" % tuple(self.inertia))
# yaw setpoint in radians is just integrated from yaw rate input
self.yaw_setpoint = 0.0
self.prev_err = Vector((0.0, 0.0, 0.0))
if self._use_angle_against_north:
self._coord_converter = CoordinateConverter.instance()
logger.info("Component initialized, runs at %.2f Hz ", self.frequency)
def __init__(self, obj, parent=None):
logger.info('%s initialization' % obj.name)
# Call the constructor of the parent class
morse.core.actuator.Actuator.__init__(self, obj, parent)
#logger.setLevel(logging.DEBUG)
# Make new reference to the robot velocities (mathutils.Vector)
self.robot_w = self.robot_parent.bge_object.localAngularVelocity
# get the robot inertia (list [ix, iy, iz])
robot_inertia = self.robot_parent.bge_object.localInertia
self.inertia = Vector(tuple(robot_inertia))
logger.debug("robot inertia: (%.3f %.3f %.3f)" % tuple(self.inertia))
# yaw setpoint in radians is just integrated from yaw rate input
self.yaw_setpoint = 0.0
self.prev_err = Vector((0.0, 0.0, 0.0))
if self._use_angle_against_north:
self._coord_converter = CoordinateConverter.instance()
logger.info("Component initialized, runs at %.2f Hz ", self.frequency)
def initialize(self):
self.converter = CoordinateConverter.instance()
def initialize(self):
self.converter = CoordinateConverter.instance()
self.method = None
