Scenario To Platform

Transform platform poses from scenario frame to platform body frame

Since R2022b

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Libraries:
Sensor Fusion and Tracking Toolbox / Tracking Scenario and Sensor Models

Description

The Scenario To Platform block transforms platform poses expressed in the scenario frame to platform poses expressed in a platform body frame.

Ports

Input

Platforms (Scenario Frame) — Platform pose in scenario frame

Simulink^® bus containing MATLAB^® structure

Platform poses expressed in the scenario frame, specified as a Simulink bus containing a MATLAB structure. For more details about buses, see Create Nonvirtual Buses (Simulink). The structure has these fields.

Field	Description
NumPlatforms	Number of platforms, specified as a nonnegative integer.
Platforms	Platform poses in the scenario frame, specified as an array of platform pose structures. The block reads only as many platform poses as the number of platforms specified in NumPlatforms.

The fields of each platform pose structure are:

Field	Description
PlatformID	Unique identifier for the platform, specified as a positive integer.
ClassID	User-defined integer used to classify the type of target, specified as a nonnegative integer. 0 is reserved for unclassified platform types and is the default value.
Position	Position of the platform in the scenario frame, specified as a real-valued 1-by-3 vector. Units are in meters.
Velocity	Velocity of the platform in the scenario frame, specified as a real-valued 1-by-3 vector. Units are in meters per second.
Acceleration	Acceleration of the platform in the scenario frame, specified as a real-valued 1-by-3 vector. Units are in meters per second-squared.
Orientation	Orientation of the platform with respect to the scenario frame, specified as a 3-by-3 rotation matrix. Orientation defines the frame rotation from the scenario frame to the platform body frame.
AngularVelocity	Angular velocity of the platform in the scenario frame, specified as a real-valued 1-by-3 vector. The magnitude of the vector defines the angular speed. Units are in degrees per second.

Instead of specifying target platform poses directly, you can use the Tracking Scenario Reader block to generate platform poses expressed in the scenario frame.

Reference Platform Pose (Scenario Frame) — Reference platform pose in scenario frame

Simulink bus containing MATLAB structure

Reference platform pose expressed in the scenario frame, specified as a Simulink bus containing a MATLAB structure. For more details about buses, see Create Nonvirtual Buses (Simulink). The structure has these fields:

Field	Description
PlatformID	Unique identifier for the platform, specified as a positive integer. The specified PlatformID must be exactly the same as the value specified in the Reference platform index parameter.
ClassID	User-defined integer used to classify the type of target, specified as a nonnegative integer. 0 is reserved for unclassified platform types and is the default value.
Position	Position of the platform in the scenario frame, specified as a real-valued, 1-by-3 vector. Units are in meters. This is a required field with no default value.
Velocity	Velocity of the platform in the scenario frame, specified as a real-valued, 1-by-3 vector. Units are in meters per second. This is a required field with no default value.
Acceleration	Acceleration of the platform in the scenario frame, specified as a 1-by-3 vector. Units are in meters per second-squared. This is a required field with no default value.
Orientation	Orientation of the platform with respect to the scenario frame, specified as a 3-by-3 rotation matrix. Orientation defines the frame rotation from the scenario frame to the platform body frame. This is a required field with no default value.
AngularVelocity	Angular velocity of the platform in the scenario frame, specified as a real-valued, 1-by-3 vector. The magnitude of the vector defines the angular speed. Units are in degrees per second. This is a required field with no default value.

Dependencies

To enable this port, select the Enable reference platform pose input check box.

Output

Platforms (Platform Body Frame) — Target platform poses in body frame of reference platform

Simulink bus containing MATLAB structure

Target platform poses expressed in the body frame of the reference platform, specified as a Simulink bus containing a MATLAB structure. For more details about buses, see Create Nonvirtual Buses (Simulink). The reference platform is the platform whose PlatformID is specified in the Reference platform index parameter. The structure has these fields.

Field	Description
NumPlatforms	Number of platforms, specified as a nonnegative integer.
Platforms	Platform poses, specified as an array of platform pose structures. The block reads only as many platform poses as the number of platforms specified in NumPlatforms.

Each platform pose structure contains these fields.

Field	Description
PlatformID	Unique identifier for the target platform, returned as a positive integer.
ClassID	User-defined integer used to classify the type of target platform, returned as a nonnegative integer. 0 is reserved for unclassified platform types.
Position	Position of the target platform in the reference platform body frame, returned as a real-valued 1-by-3 vector. Units are in meters.
Velocity	Velocity of the target platform in the reference platform body frame, returned as a real-valued 1-by-3 vector. Units are in meters per second. The default is [0 0 0].
Acceleration	Acceleration of the target platform in the reference platform body frame, returned as a real-valued 1-by-3 vector. Units are in meters per second-squared. The default is [0 0 0].
Orientation	Orientation of the target platform with respect to reference platform body frame, returned as a 3-by-3 rotation matrix. Orientation defines the frame rotation from the reference platform body frame to the target platform body frame.
AngularVelocity	Angular velocity of the target platform in the reference platform body frame, specified as a real-valued 1-by-3 vector. The magnitude of the vector defines the angular speed. Units are in degrees per second.

You can use this output as the input to the Fusion Radar Sensor block.

Parameters

Reference platform index — Reference platform index

0 (default) | positive integer

Reference platform index, specified as a positive integer. You must specify the platform pose corresponding to this index through the Platforms (Scenario Frame) input port, or through the Reference Platform Pose (Scenario Frame) input port.

Example: 1

Enable reference platform pose input — Enable reference platform pose input

off (default) | on

Select this checkbox to enable the Reference Platform Pose (Scenario Frame) input port.

Source of output bus name — Source of output bus name

Auto (default) | Property

Source of the output bus name, specified as one of these options:

• Auto — The block automatically creates a bus name.

• Property — Specify the bus name by using the Specify an output bus name parameter.

Specify an output bus name — Output port bus name

BusPlatforms (default) | valid bus name

Output port bus name, specified as a valid bus name.

Dependencies

To enable this parameter, set the Source of output bus name parameter to Property.

Simulate using — Type of simulation to run

Interpreted execution (default) | Code generation

Select the type of simulation to run as:

• Interpreted execution — Simulate the model using the MATLAB interpreter. This option shortens startup time. In Interpreted execution mode, you can debug the source code of the block.

• Code generation — Simulate the model using generated C code. The first time you run a simulation, Simulink generates C code for the block. The C code is reused for subsequent simulations as long as the model does not change. This option requires additional startup time.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2022b

R2023a: Simulink buses do not show in workspace

As of R2023a, the Simulink buses created by this block no longer show in MATLAB workspace.