iRobot ATRV platform
====================

.. image:: ../../../media/robots/atrv.png
  :align: center
  :width: 600


Definition for the well-known ATRV robot, distributed by I-Robot.


.. cssclass:: properties morse-section

Configuration parameters for irobot atrv platform
-------------------------------------------------


You can :

- set the mass of the robot using the builder method :py:meth:`morse.builder.morsebuilder.Robot.set_mass()`
- set the friction coefficient of the robot using the builder method :py:meth:`morse.builder.morsebuilder.Robot.set_friction()`


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

- ``NoGravity`` (bool, default: ``False``)
	Indicate if we want to consider the gravity for this                 robot If true, the behaviour is less realistic as the                 simulator will automatically compensate it. This setting                 is useful for non-realistic model flying or submarine                 robot 
- ``GroundRobot`` (bool, default: ``False``)
	Indicate if the robot is a ground robot, i.e.                   basically if it has no way to control its position on the                   Z axis


.. cssclass:: services morse-section

Services for iRobot ATRV platform
---------------------------------

- ``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 *
    
    # creates a new instance of the robot
    atrv = ATRV()

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

    env = Environment('empty')
    

.. cssclass:: files morse-section

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

- `Source code <../../_modules/morse/robots/atrv.html>`_
- `Unit-test <../../_modules/base/atrv_testing.html>`_




*(This page has been auto-generated from MORSE module morse.robots.atrv.)*
