morse.modifiers package¶
Submodules¶
morse.modifiers.abstract_modifier module¶
- class AbstractModifier(component_instance, kwargs)[source]¶
Bases:
object
The class is inherited by all modifiers. Concrete classes need to implement
modify()
.- property component_name¶
get the component name
- property data¶
get the component local data
morse.modifiers.ecef module¶
morse.modifiers.feet module¶
- class FeetModifier(component_instance, kwargs)[source]¶
Bases:
morse.modifiers.abstract_modifier.AbstractModifier
This modifier converts datas from imperial units to metrics units and vice-versa.
The Feet modifier provides as modifiers:
- class FeetToMeter(component_instance, kwargs)[source]¶
Bases:
morse.modifiers.feet.FeetModifier
Converts Feet to Meter
- class MeterToFeet(component_instance, kwargs)[source]¶
Bases:
morse.modifiers.feet.FeetModifier
Converts Meter (Morse) to Feet
morse.modifiers.geocentric module¶
morse.modifiers.geodetic module¶
morse.modifiers.imu_noise module¶
- class IMUNoiseModifier(component_instance, kwargs)[source]¶
Bases:
morse.modifiers.abstract_modifier.AbstractModifier
This modifier allows to simulate Gaussian noise for accelerometer and gyroscope sensors of an IMU. No bias is modeled so far.
morse.modifiers.ned module¶
- class AnglesFromNED(component_instance, kwargs)[source]¶
Bases:
morse.modifiers.ned.NEDModifier
Convert the angles from NED to ENU.
- class AnglesToNED(component_instance, kwargs)[source]¶
Bases:
morse.modifiers.ned.NEDModifier
Convert the angles from ENU to NED.
- class CoordinatesFromNED(component_instance, kwargs)[source]¶
Bases:
morse.modifiers.ned.NEDModifier
Convert the coordinates from NED to ENU.
- class CoordinatesToNED(component_instance, kwargs)[source]¶
Bases:
morse.modifiers.ned.NEDModifier
Convert the coordinates from ENU to NED.
- class NEDModifier(component_instance, kwargs)[source]¶
Bases:
morse.modifiers.abstract_modifier.AbstractModifier
This modifier converts the coordinates generated by the MORSE simulator to change to the North, East, Down (NED) coordinate system, instead of the East, North, Up (ENU) system normally used by Blender.
This is achieved by switching the direction of the X and Y axis, as well as inverting the sense of the Z axis.
This modifier attempts to alter data
x
,y
andz
for position, andyaw
,pitch
androll
for orientation.The NED modifier provides as modifiers:
morse.modifiers.odometry_noise module¶
- class OdometryNoiseModifier(component_instance, kwargs)[source]¶
Bases:
morse.modifiers.abstract_modifier.AbstractModifier
This modifier allows to simulate two common issues when calculating odometry :
an error in the scale factor used to compute the distance from the value returned by the odometer (parameter factor)
the gyroscope natural drift (parameter gyro_drift (rad by tick))
The modifier only accumulate errors for a 2D odometry sensor. It modifies so the following variables :
dS by the scale factor
dx considering the scale factor and gyroscope drift
dy considering the scale factor and gyroscope drift
dyaw considering the gyroscope drift
x considering the scale factor and gyroscope drift
y considering the scale factor and gyroscope drift
yaw considering the gyroscope drift
vx considering the new dx
vy considering the new dy
wz considering the new dyaw
noisify
: Simulate drift of gyroscope and possible error in the scale factor
morse.modifiers.pose_noise module¶
- class NoiseModifier(component_instance, kwargs)[source]¶
Bases:
morse.modifiers.abstract_modifier.AbstractModifier
This modifier allows to simulate Gaussian noise for pose measurements. If the variable
orientation
exists, it is taken to be a unit quaternion and noise added to it. Otherwise rotational noise will be added to the roll, pitch and yaw variables.This modifier attempts to alter data
x
,y
andz
for position, and eitherorientation
oryaw
,pitch
androll
for orientation.The PoseNoise modifier provides as modifiers:
- class OrientationNoiseModifier(component_instance, kwargs)[source]¶
Bases:
morse.modifiers.pose_noise.NoiseModifier
Add a gaussian noise to an orientation
- class PoseNoiseModifier(component_instance, kwargs)[source]¶
Bases:
morse.modifiers.pose_noise.PositionNoiseModifier
,morse.modifiers.pose_noise.OrientationNoiseModifier
Add a gaussian noise to both position and orientation
- class PositionNoiseModifier(component_instance, kwargs)[source]¶
Bases:
morse.modifiers.pose_noise.NoiseModifier
Add a gaussian noise to a position
morse.modifiers.utm module¶
- class CoordinatesFromUTM(component_instance, kwargs)[source]¶
Bases:
morse.modifiers.utm.UTMModifier
Converts from UTM coordinates to Blender coordinates.
- class CoordinatesToUTM(component_instance, kwargs)[source]¶
Bases:
morse.modifiers.utm.UTMModifier
Converts from Blender coordinates to UTM coordinates.
- class UTMModifier(component_instance, kwargs)[source]¶
Bases:
morse.modifiers.abstract_modifier.AbstractModifier
This modifier converts the coordinates generated by the MORSE simulator to use UTM global coordinates. This is achieved by setting the offset of the Blender origin with respect to the UTM reference. The offset can be either given in the modifier parameters, or globally defined as three properties of the
Scene_Script_Holder
object of the scene:UTMXOffset
,UTMYOffset
andUTMZOffset
.Note
Due to limitation in Blender, to pass offset outside of range [-10000.0, 10000.0] as global scene properties, you need to pass the offset value as a string.
This modifier attempts to alter data
x
,y
andz
of modified components.The UTM modifier provides as modifiers: