Webots Reference Manual release 5.9.2

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1.	Introduction
2.	Node Chart
3.	Nodes and API Functions
4.	Prototypes
5.	Physics Plugin
6.	Fast2D Plugin
7.	MTN Functions
8.	Webots World Files

3.1 Accelerometer

Derived from Solid.

Accelerometer { SFFloat resolution 0.01 # m/s² }

3.1.1 Description

The Accelerometer node is used to model a 3D accelerometer device such as those commonly found in mobile electronic devices. This component can measure the instantaneous acceleration in three dimensions over the X, Y and Z axes.

3.1.2 Field Summary

resolution: This field defines the precision of the accelerometer, that is the absolute maximum error (expressed in m/s²) in the measured acceleration. This error is implemented in Webots as white noise.

3.1.3 Accelerometer Functions

DESCRIPTION

The accelerometer_enable() function allows the user to enable an acceleration measurement each ms milliseconds.

The accelerometer_disable() function turns the accelerometer off, saving computation time.

NAME

accelerometer_get_values, accelerometer_value_x, accelerometer_value_y, accelerometer_value_z - get the accelerometer measurement as an array of 3 floating point values (X, Y and Z accelerations)

C/C++ SYNOPSIS

#include <device/accelerometer.h>

   const float *accelerometer_get_values (DeviceTag sensor);
   float accelerometer_value_x (const float values[3]);
   float accelerometer_value_y (const float values[3]);
   float accelerometer_value_z (const float values[3]);

JAVA SYNOPSIS

import com.cyberbotics.webots.Controller;

   float[] accelerometer_get_values (int sensor);
   float accelerometer_value_x (float[] values);
   float accelerometer_value_y (float[] values);
   float accelerometer_value_z (float[] values);

DESCRIPTION

The accelerometer_get_values() function returns the last values measured by the specified accelerometer sensor. The value returned is an array of 3 floating point numbers representing the 3D acceleration vector of the Accelerometer node, expressed in meters per second squared (m/s²).

The accelerometer_value_x(), accelerometer_value_y() and accelerometer_value_z() functions are helper macros used to retrieve the x, y and z acceleration components measured by the accelerometer sensor from the floating point array data. They are defined as follows:

#define accelerometer_value_x(array) ((array)[0]) #define accelerometer_value_y(array) ((array)[1]) #define accelerometer_value_z(array) ((array)[2])

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