Pose sensor

This sensor provides the absolute position and orientation with respect to the origin of the Blender coordinate reference. It basically does the same job as both of the GPS and Gyroscope sensors. 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 in the range (-pi, pi).

Files

  • Blender: $MORSE_ROOT/data/sensors/pose.blend
  • Python: $MORSE_ROOT/src/morse/sensors/pose.py

Local data

  • x: (float) X coordinate of the sensor
  • y: (float) Y coordinate of the sensor
  • z: (float) Z coordinate of the sensor
  • yaw: (float) rotation angle with respect to the Z axis
  • pitch: (float) rotation angle with respect to the Y axis
  • roll: (float) rotation angle with respect to the X axis

Note

Coordinates are given with respect to the origin of Blender’s coordinate axis.

Applicable modifiers

This sensor always provides perfect data. To obtain more realistic readings, it is recommended to add modifiers.

  • UTM modifier: Will add an offset to the Blender coordinates according to the parameters set on the scene.
  • NED: Changes the coordinate reference to use North (X), East (Y), Down (Z)
  • Noise modifier: Adds random Gaussian noise to the data

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