collisionBox

Create box collision geometry

Description

Use collisionBox to create a box collision geometry that is axis-aligned with its body-fixed frame and has the origin of the body-fixed frame at the center of the box.

Creation

Syntax

BOX = collisionBox(X,Y,Z)

BOX = collisionBox(___,Pose=pose)

Description

BOX = collisionBox(X,Y,Z) creates an axis-aligned box collision geometry centered at the origin with X, Y, and Z as its side lengths along the corresponding axes in the geometry-fixed frame. By default, the geometry-fixed frame collocates with the world frame.

BOX = collisionBox(___,Pose=pose) sets the Pose property of the box to pose, relative to the world frame.

Properties

X — Side length of box geometry

positive scalar

Side length of box geometry along the x-axis, specified as a positive scalar. Units are in meters.

Data Types: double

Y — Side length of box geometry

positive scalar

Side length of box geometry along the y-axis, specified as a positive scalar. Units are in meters.

Data Types: double

Z — Side length of box geometry

positive scalar

Side length of box geometry along the z-axis, specified as a positive scalar. Units are in meters.

Data Types: double

Pose — Pose

eye(4) (default) | real-valued 4-by-4 matrix | se3 object

Pose of the collision geometry relative to the world frame, specified as a 4-by-4 homogeneous matrix or an se3 object. You can change the pose after you create the collision geometry.

Note

Note that when the pose is specified as an se3 object, the Pose property stores the pose as a numeric 4-by-4 matrix.

Data Types: single | double

Object Functions

checkCollision	Check if two geometries are in collision
convertToCollisionMesh	Convert collision primitive geometry into collision mesh geometry
fitCollisionCapsule	Fit collision capsule around collision geometry
show	Show collision geometry

Examples

Create and Visualize Box Collision Geometry

Create a box collision geometry centered at the origin. The side lengths in the x-, y-, and z-directions are 3, 1, and 2 meters, respectively.

box = collisionBox(3,1,2)

box = 
  collisionBox with properties:

       X: 3
       Y: 1
       Z: 2
    Pose: [4×4 double]

Visualize the box.

show(box)
title("Box")

Create two homogeneous transformation matrices. The first matrix is a rotation about the z-axis by $$\pi /2$$ radians, and the second matrix is a rotation about the x-axis of $$\pi /8$$ radians.

matZ = axang2tform([0 0 1 pi/2]);
matX = axang2tform([1 0 0 pi/8]);

Create a second box collision geometry with the same dimensions as the first. Change its pose to the product of the two matrices. The product corresponds to first rotation about the z-axis followed by rotation about the x-axis. Visualize the result.

box2 = collisionBox(3,1,2);
box2.Pose = matZ*matX;
show(box2)
title("Box2")

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2019b

R2023b: collisionBox supports specifying pose at construction

You can now specify the Pose property of collisionBox at object construction.

R2023a: Pose property supports se3 transformation object

You can now specify the Pose property of collisionBox as an se3 transformation object.