uav.SensorAdaptor.getMotion

Class: uav.SensorAdaptor
Namespace: uav

Get sensor motion in platform reference frame

Since R2021a

Syntax

motion = getMotion(scenario,platform,sensor,t)


Description

motion = getMotion(scenario,platform,sensor,t) return the sensor motion in the platform reference frame for the given time t.

Input Arguments

scenario — UAV scenario

uavScenario object

UAV scenario, specified as a uavScenario object. This scenario contains the uavPlatform object platform, which also contains the sensor object sensorObj, which is a subclass of uav.SensorAdaptor.

platform — UAV platform

uavPlatform object

UAV scenario, specified as a uavPlatform object. This platform contains the sensor object sensorObj, which is a subclass of uav.SensorAdaptor.

sensor — UAV sensor to add to platform in scenario

uavSensor object

UAV sensor to add to a platform in a scenario, specified as a uavSensor object.

t — Simulation time

positive scalar

Simulation time, specified as a positive scalar.

Output Arguments

motion — UAV platform motion at current instance in scenario

16-element vector

UAV platform motion at the current instance in a UAV scenario, returned as a 16-element vector with these elements in this order:

• [x y z] — Positions in the xyz-axes in meters

• [vx vy vz] — Velocities in the xyz-directions in meters per second

• [ax ay az] — Accelerations in the 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: double

Version History

Introduced in R2021a