Odometry sensor
This sensor produces relative displacement with respect to the position
and rotation in the previous Blender tick.
The position and orientation data is taken from the sensor’s position_3d structure
The angles for yaw, pitch and roll are given in radians.
Files
- Blender: $MORSE_ROOT/data/sensors/odometry.blend
- Python: $MORSE_ROOT/src/morse/sensors/odometry.py
Local data
- dx: (float) delta of X coordinate of the sensor
- dy: (float) delta of Y coordinate of the sensor
- dz: (float) delta of Z coordinate of the sensor
- dyaw: (float) delta of rotation angle with respect to the Z axis
- dpitch: (float) delta of rotation angle with respect to the Y axis
- droll: (float) delta of rotation angle with respect to the X axis
Applicable modifiers
This sensor always provides perfect data.
To obtain more realistic readings, it is recommended to add modifiers.
- Noise modifier: Adds random Gaussian noise to the data