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
------------------------------------------

*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
- ``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:`text`  as key = value format with timestamp and index value (:py:mod:`morse.middleware.text_datastream.Publisher`)
- :tag:`ros`  as TwistPublisher (:py:mod:`morse.middleware.ros.accelerometer.TwistPublisher`)
- :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`)


.. cssclass:: services morse-section

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

- ``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
    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.)*
