Create sphere collision geometry
collisionSphere to create a sphere collision geometry
centered at the origin.
Radius of sphere, specified as a positive scalar. Units are in meters.
eye(4)(default) | real-valued matrix
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.
|Show 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: [4x4 double]
Visualize the 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])