addInertialFrame

Define new inertial frame in robot scenario

Since R2022a

Syntax

addInertialFrame(scenario,base,name,position,orientation)

addInertialFrame(scenario,base,name,tform)

Description

addInertialFrame(scenario,base,name,position,orientation) adds a new inertial frame to the robot scenario by specifying the base, name, position, and orientation of the new inertial frame.

addInertialFrame(scenario,base,name,tform) adds a new inertial frame to the robot scenario by specifying the base, name, and transformation matrix of the new inertial frame.

Examples

Add Inertial Frame to Robot Scenario

Create a robot scenario. By default, the inertial frames are the ENU and the NED frames.

scenario = robotScenario

scenario = 
  robotScenario with properties:

           UpdateRate: 10
             StopTime: Inf
    HistoryBufferSize: 100
    ReferenceLocation: [0 0 0]
         MaxNumFrames: 50
          CurrentTime: 0
            IsRunning: 0
        TransformTree: [1×1 transformTree]
       InertialFrames: ["ENU"    "NED"]
               Meshes: {}
      CollisionMeshes: {}
            Platforms: [0×0 robotPlatform]

Add a new inertial frame named robot to the scenario.

addInertialFrame(scenario,"ENU","robot",eul2tform([pi/4 0 0]))

You can now use the robot frame as a reference frame to define other objects in the scenario.

scenario.InertialFrames

ans = 1×3 string
    "ENU"    "NED"    "robot"

Add plane and box mesh with reference frame in the scenario.

addMesh(scenario,"Plane",Size=[10 10],Color=[0 1 0])
addMesh(scenario,"Box",Position=[-2 -2 0.5],ReferenceFrame="robot")

Visualize the scenario.

show3D(scenario);

Input Arguments

scenario — Robot scenario

robotScenario object

Robot scenario, specified as a robotScenario object.

base — Base of new inertial frame

string scalar

Base of the new inertial frame, specified as a string scalar. The base frame must be defined in the scenario in advance.

Example: "ENU"

Data Types: char | string

name — Name of new inertial frame

string scalar

Name of the new inertial frame, specified as a string scalar.

Example: "newFrame"

Data Types: char | string

position — Position of new inertial frame

1-by-3 vector

Position of the new inertial frame with respect to the base frame (specified in the base argument), specified as a 1-by-3 vector in meters.

Data Types: single | double

orientation — Orientation of new inertial frame

quaternion object | 1-by-4 quaternion vector

Orientation of the new inertial frame with respect to the base frame (specified in the base argument), specified as a quaternion object or a 1-by-4 quaternion vector. The specified orientation is from the base frame to the new inertial frame.

Data Types: single | double

tform — Transformation matrix of new inertial frame

4-by-4 homogeneous transform matrix

Transformation matrix that maps points in the new frame (specified in the base argument) to the base frame, specified as a 4-by-4 homogeneous transform matrix that maps points in the base frame to the new inertial frame.

Example: [0 0 1 0; 0 1 0 0; -1 0 0 0; 0 0 0 1]

Data Types: single | double

Version History

Introduced in R2022a