Main Content

setup

Prepare robot scenario for simulation

Since R2022a

    Description

    example

    setup(scenario) prepares the robot scenario for simulation, sets poses of the platforms to their initial values, and generates initial sensor readings.

    Examples

    collapse all

    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

    collapse all

    Robot scenario, specified as a robotScenario object.

    Version History

    Introduced in R2022a