read
Description
Examples
Simulate Simple Robot Scenario
Create a robot scenario.
scenario = robotScenario(UpdateRate=100,StopTime=1);
Add the ground plane and a cylinder as meshes.
addMesh(scenario,"Plane",Size=[30 30],Color=[0.7 0.7 0.7]) addMesh(scenario,"Cylinder",Position=[-2 4 0.5],Color=[0 1 1])
Create a robot platform with a specified waypoint trajectory in the scenario. Define the mesh for the robot platform.
traj = waypointTrajectory("Waypoints",[0 -10 0; 10 0 0; -10 10 0; 0 -10 0], ... "TimeOfArrival",[0 0.33 0.66 1], ... "ReferenceFrame","ENU"); platform = robotPlatform("Robot",scenario, ... BaseTrajectory=traj); updateMesh(platform,"GroundVehicle",Scale=3);
Simulate and visualize the scenario.
setup(scenario); idx = 1; while advance(scenario) motion(idx,:) = read(platform); show3D(scenario); drawnow update idx = idx+1; end
restart(scenario);
Input Arguments
platform
— Robot platform in scenario
robotPlatform
object
Robot platform in the scenario, specified as a robotPlatform
object.
Output Arguments
motion
— Robot platform motion at current instance in scenario
16-element vector
Robot platform motion at the current instance in the scenario, returned as a 16-element vector with these elements in order:
[x y z]
— Positions in xyz-axes in meters.[vx vy vz]
— Velocities in xyz-directions in meters per second.[ax ay az]
— Accelerations in xyz-directions in meters per second squared.[qw qx qy qz]
— Quaternion vector for orientation.[wx wy wz]
— Angular velocities in radians per second.
Data Types: single
| double
config
— Robot platform joint configuration at current instance in scenario
N-element vector
Robot platform joint configuration at the current instance in the scenario, returned
as an N-element vector. N is the total number of
joints associated with the rigidBodyTree
object.
Data Types: single
| double
Version History
Introduced in R2022a
Apri esempio
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