collisionSphere

Create sphere collision geometry

Description

Use collisionSphere to create a sphere collision geometry with the origin of the geometry-fixed frame at the center of the sphere.

Creation

Syntax

SPH = collisionSphere(Radius)

SPH = collisionSphere(___,Pose=pose)

Description

SPH = collisionSphere(Radius) creates a sphere collision geometry with a specified Radius centered at the origin of the world frame. The origin of the geometry-fixed frame is at the center of the sphere.

SPH = collisionSphere(___,Pose=pose) sets the Pose property of the sphere to pose, relative to the world frame.

Properties

Radius — Radius

positive scalar

Radius of sphere, 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 Sphere Collision Geometry

Create a sphere collision geometry centered at the origin. The sphere has a radius of 1 meter.

rad = 1;
sph = collisionSphere(rad)

sph = 
  collisionSphere with properties:

    Radius: 1
      Pose: [4×4 double]

Visualize the sphere.

show(sph)
title("Sphere")

Create a cylinder collision geometry of radius 1 meter and length 3 meters.

cyl = collisionCylinder(1,3);

Create a homogeneous transformation that corresponds to a translation of 2.5 meters up the z-axis. Set the pose of the sphere to the matrix. Show the sphere and the cylinder.

mat = trvec2tform([0 0 2.5]);
sph.Pose = mat;
show(sph)
hold on
show(cyl)
view(90,0)
zlim([-2 4])

Extended Capabilities

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

Version History

Introduced in R2019b

R2023b: collisionSphere supports specifying pose at construction

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

R2023a: Pose property supports se3 transformation object

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