Orientation Actuator
====================


**An actuator to change instantly robot orientation.**


Motion controller changing immediately the robot orientation.

This actuator reads the values of angles of rotation around the 3
axis and applies them to the associated robot. This rotation is
applied instantly (not in a realist way). Angles are expected in
radians.


.. cssclass:: properties morse-section

Configuration parameters for orientation actuator
-------------------------------------------------

*No configurable parameter.*

.. cssclass:: fields morse-section

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


This actuator reads these datafields at each simulation step:

- ``yaw`` (float, initial value: ``Initial robot yaw``)
	Rotation of the robot around Z axis, in radian
- ``pitch`` (float, initial value: ``Initial robot pitch``)
	Rotation of the robot around Y axis, in radian
- ``roll`` (float, initial value: ``Initial robot roll``)
	Rotation of the robot around X axis, in radian

*Interface support:*

- :tag:`ros`  as QuaternionReader (:py:mod:`morse.middleware.ros.orientation.QuaternionReader`)
- :tag:`socket`  as straight JSON deserialization (:py:mod:`morse.middleware.socket_datastream.SocketReader`)
- :tag:`yarp`  as yarp::Bottle (:py:mod:`morse.middleware.yarp_datastream.YarpReader`)


.. cssclass:: services morse-section

Services for Orientation Actuator
---------------------------------

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

    a dictionary of the current component's properties  

- ``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 *
    
    robot = ATRV()
    
    # creates a new instance of the actuator
    orientation = Orientation()

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

    env = Environment('empty')
    

.. cssclass:: files morse-section

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

- `Source code <../../_modules/morse/actuators/orientation.html>`_
- `Unit-test <../../_modules/base/orientation_testing.html>`_




*(This page has been auto-generated from MORSE module morse.actuators.orientation.)*
