Accelerometer
=============


This sensor emulates an Accelerometer/Podometer, measuring the
distance that a robot has moved, the current speed and current
acceleration. Measurements are done for the 3 axes (X, Y, Z) for
velocity and acceleration. The values for velocity and acceleration
are measured at each tic of the Game Engine, measuring the
difference in distance from the previous tic, and the estimated time
between tics (60 tics per second is the default in Blender).


.. cssclass:: properties morse-section

Configuration parameters for Accelerometer
------------------------------------------


You can set these properties in your scripts with ``<component>.properties(<property1>=..., <property2>=...)``.

- ``ComputationMode`` (string, default: ``"Automatic"``)
	Kind of computation, can be one of ['Velocity', 'Position']. Only robot with dynamic and Velocity control can choose Velocity computation. Default choice is Velocity for robot with physics, and Position for others


.. cssclass:: fields morse-section

Data fields
-----------


This sensor exports these datafields at each simulation step:

- ``timestamp`` (float, initial value: ``0.0``)
	number of seconds in simulated time
- ``distance`` (float, initial value: ``0.0``)
	distance travelled since the last tick, in meter
- ``velocity`` (vec3<float>, initial value: ``[0.0, 0.0, 0.0]``)
	Instantaneous speed in X, Y, Z, in meter sec^-1
- ``acceleration`` (vec3<float>, initial value: ``[0.0, 0.0, 0.0]``)
	Instantaneous acceleration in X, Y, Z, in meter sec^-2

*Interface support:*

- :tag:`socket`  as straight JSON serialization (:py:mod:`morse.middleware.socket_datastream.SocketPublisher`)
- :tag:`text`  as key = value format with timestamp and index value (:py:mod:`morse.middleware.text_datastream.Publisher`)
- :tag:`yarp`  as yarp::Bottle (:py:mod:`morse.middleware.yarp_datastream.YarpPublisher`)
- :tag:`ros`  as TwistPublisher (:py:mod:`morse.middleware.ros.accelerometer.TwistPublisher`)


.. cssclass:: services morse-section

Services for Accelerometer
--------------------------

- ``set_property(prop_name, prop_val)`` (blocking)
    Modify one property on a component
    
    
  - Parameters

    - ``prop_name``: the name of the property to modify (as shown the documentation)
    - ``prop_val``: the new value of the property. Note that there is no checking about the type of the value so be careful

  - Return value

    nothing 

- ``get_properties()`` (blocking)
    Returns the properties of a component.
    
    
  - Return value

    a dictionary of the current component's properties  

- ``get_local_data()`` (blocking)
    Returns the current data stored in the sensor.
    
    
  - Return value

    a dictionary of the current sensor's data 

- ``get_configurations()`` (blocking)
    Returns the configurations of a component (parsed from the properties).
    
    
  - Return value

    a dictionary of the current component's configurations  



.. cssclass:: examples morse-section

Examples
--------


The following examples show how to use this component in a *Builder* script:

.. code-block:: python


    from morse.builder import *
    
    # adds a default robot (the MORSE mascott!)
    robot = Morsy()
    
    # creates a new instance of the sensor
    accelerometer = Accelerometer()

    # place your component at the correct location
    accelerometer.translate(<x>, <y>, <z>)
    accelerometer.rotate(<rx>, <ry>, <rz>)
    
    robot.append(accelerometer)
    
    # define one or several communication interface, like 'socket'
    accelerometer.add_interface(<interface>)

    env = Environment('empty')
    

.. cssclass:: files morse-section

Other sources of examples
+++++++++++++++++++++++++

- `Source code <../../_modules/morse/sensors/accelerometer.html>`_
- `Unit-test <../../_modules/base/accelerometer_testing.html>`_




*(This page has been auto-generated from MORSE module morse.sensors.accelerometer.)*
