altimeter.md

Altimeter

Derived from Device and Solid.

Description

The Altimeter node is used to model an altimeter sensor, which can obtain information about its height above the global reference plane from the controller program.

Field Summary

Altimeter {
  SFString name             "altimeter"   # used by wb_robot_get_device()
  SFFloat  accuracy         0             # [0, inf)
  SFFloat  resolution       -1            # {-1, [0, inf)}
}

Note: The above description lists only the fields specific to the Altimeter node. The complete field list can be found in the [Altimeter.wrl]({{ url.github_tree }}/resources/nodes/Altimeter.wrl) definition file.

• name: This field defines the string name used by wb_robot_get_device() to get the WbDeviceTag handle of this sensor. Its default value is "altimeter".

• accuracy: This field defines the precision of the altimeter, that is the standard deviation (expressed in meter) of the gaussian noise added to the altitude.

• resolution: This field allows the user to define the resolution of the sensor. The resolution is the smallest change that it is able to measure. Setting this field to -1 (default) means that the sensor has an 'infinite' resolution (it can measure any infinitesimal change). Otherwise this field accepts any value in the interval [0.0, inf).

Altimeter Functions

wb_altimeter_enable

wb_altimeter_disable

wb_altimeter_get_sampling_period

wb_altimeter_get_value

%tab-component "language"

%tab "C"

#include <webots/altimeter.h>

void wb_altimeter_enable(WbDeviceTag tag, int sampling period)
void wb_altimeter_disable(WbDeviceTag tag)
int wb_altimeter_get_sampling_period(WbDeviceTag tag)
double wb_altimeter_get_value(WbDeviceTag tag)

%tab-end

%tab "C++"

#include "webots/Altimeter.hpp>"

namespace webots {
  class Altimeter : public Device {
    virtual void enable(int samplingPeriod);
    virtual void disable();
    int getSamplingPeriod() const;
    double getValue() const;
    // ...
  }
}

%tab-end

%tab "Python"

from controller import Altimeter

class Altimeter (Device):
    def enable(self, samplingPeriod):
    def disable(self):
    def getSamplingPeriod(self):
    def getValue(self):
    # ...

%tab-end

%tab "Java"

import com.cyberbotics.webots.controller.Altimeter;

public class Altimeter extends Device {
  public void enable(int samplingPeriod);
  public void disable();
  public int getSamplingPeriod();
  public double getValue();
  // ...
}

%tab-end

%tab "MATLAB"

wb_altimeter_enable(tag, sampling_period)
wb_altimeter_disable(tag)
period = wb_altimeter_get_sampling_period(tag)
altitude = wb_altimeter_get_value(tag)

%tab-end

%end

Description

enable, disable, and read last altimeter measurement

The wb_altimeter_enable function allows the user to enable altimeter measurements.

The sampling_period arguement specifies the sampling period of the sensor and is expressed in milliseconds. Note that the first measurement will be available only after the first sampling period has elapsed.

The wb_altimeter_disable function turns the altimeter off, saving computation time.

The wb_altimeter_get_value function returns the last value measured by the altimeter.

The wb_altimeter_get_sampling_period function returns the period given into the wb_altimeter_enable function, or 0 if the device is disabled.