Main Content

collisionBox

Create box collision geometry

Description

Use collisionBox to create a box collision geometry centered at the origin.

Creation

Description

example

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.

Properties

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

Data Types: double

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

Data Types: double

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

Data Types: double

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

Data Types: double

Object Functions

showShow collision geometry

Examples

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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: [4x4 double]

Visualize the box.

show(box)
title('Box')

Figure contains an axes. The axes with title Box contains an object of type patch.

Create two homogeneous transformation matrices. The first matrix is a rotation about the z-axis by π/2 radians, and the second matrix is a rotation about the x-axis of π/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')

Figure contains an axes. The axes with title Box2 contains an object of type patch.

Extended Capabilities

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

Introduced in R2019b