Gyroscope
=========


This sensor emulates a Gyroscope, providing the yaw, pitch and roll
angles of the sensor object with respect to the Blender world
reference axes.

Angles are given in radians.


.. cssclass:: properties morse-section

Configuration parameters for gyroscope
--------------------------------------

*No configurable parameter.*

.. cssclass:: fields morse-section

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


This sensor exports these datafields at each simulation step:

- ``timestamp`` (float, initial value: ``0.0``)
	number of milliseconds in simulated time
- ``yaw`` (float, initial value: ``0.0``)
	rotation around the Z axis of the sensor, in radian
- ``pitch`` (float, initial value: ``0.0``)
	rotation around the Y axis of the sensor, in radian
- ``roll`` (float, initial value: ``0.0``)
	rotation around the X axis of the sensor, in radian

*Interface support:*

- :tag:`text`  as key = value format with timestamp and index value (:py:mod:`morse.middleware.text_datastream.Publisher`)
- :tag:`moos`  as db entries (:py:mod:`morse.middleware.moos.gyroscope.GyroscopeNotifier`)
- :tag:`pocolibs`  as `POM_ME_POS <http://trac.laas.fr/git/pom-genom/tree/pomStruct.h#n180>`_ (:py:mod:`morse.middleware.pocolibs.sensors.pom.PomSensorPoster`) or as `POM_POS <http://trac.laas.fr/git/pom-genom/tree/pomStruct.h#n211>`_ (:py:mod:`morse.middleware.pocolibs.sensors.pom.PomPoster`)
- :tag:`socket`  as straight JSON serialization (:py:mod:`morse.middleware.socket_datastream.SocketPublisher`)
- :tag:`yarp`  as yarp::Bottle (:py:mod:`morse.middleware.yarp_datastream.YarpPublisher`)
- :tag:`ros`  as StringPublisher (:py:mod:`morse.middleware.ros.StringPublisher`)


.. cssclass:: services morse-section

Services for Gyroscope
----------------------

- ``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  

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

    a dictionary of the current sensor's data 



.. 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 sensor
    gyroscope = Gyroscope()

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

    env = Environment('empty')
    

.. cssclass:: files morse-section

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

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




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