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updateObstaclePose

Update states of obstacles

Description

example

updateObstaclePose(capsuleListObj,obstacleIDs,poseStruct) updates the states of the specified obstacles in the capsule list. If a specified obstacle ID does not already exist, the function adds a new ego body with that ID to the list.

status = updateObstaclePose(capsuleListObj,obstacleIDs,poseStruct) returns an indicator of whether an obstacle is added, updated, or a duplicate.

Examples

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Build an ego body path and maintain obstacle states using the dynamicCapsuleList object. Visualize the states of all objects in the environment at different timestamps. Validate the path of the ego body by checking for collisions with obstacles in the environment.

Create the dynamicCapsuleList object. Extract the maximum number of steps to use as the number of time stamps for your object paths.

obsList = dynamicCapsuleList;
numSteps = obsList.MaxNumSteps;

Add Ego Body

Define an ego body by specifying the ID, geometry, and state together in a structure. The capsule geometry has a length of 3 m and radius of 1 m. Specify the state as a linear path from x = 0m to x = 100m.

egoID1 = 1;
geom = struct("Length",3,"Radius",1,"FixedTransform",eye(3));
states = linspace(0,1,obsList.MaxNumSteps)'.*[100 0 0];

egoCapsule1 = struct('ID',egoID1,'States',states,'Geometry',geom);
addEgo(obsList,egoCapsule1);

show(obsList,"TimeStep",[1:numSteps]);
ylim([-20 20])

Figure contains an axes object. The axes object contains an object of type patch.

Add Obstacles

Specify states for two obstacles that are separated from the ego body by 5 m in opposite directions on the y-axis.. Assume the obstacles have the same geometry geom as the ego body.

obsState1 = states + [0 5 0];
obsState2 = states + [0 -5 0];

obsCapsule1 = struct('ID',1,'States',obsState1,'Geometry',geom);
obsCapsule2 = struct('ID',2,'States',obsState2,'Geometry',geom);

addObstacle(obsList,obsCapsule1);
addObstacle(obsList,obsCapsule2);

show(obsList,"TimeStep",[1:numSteps]);
ylim([-20 20])

Figure contains an axes object. The axes object contains 3 objects of type patch.

Update Obstacles

Alter your obstacle locations and geometry dimensions over time. Use the previously generated structure, modify the fields, and update the obstacles using the updateObstacleGeometry and updateObstaclePose object functions. Reduces the radius of the first obstacle to 0.5 m, and change the path to move it towards the ego body.

obsCapsule1.Geometry.Radius = 0.5;

obsCapsule1.States = ...
    [linspace(0,100,numSteps)' ... % x
     linspace(5,-4,numSteps)' ... % y 
     zeros(numSteps,1)]; % theta

updateObstacleGeometry(obsList,1,obsCapsule1);
updateObstaclePose(obsList,1,obsCapsule1);

Check for Collisions

Visualize the new paths. Show where collisions between the ego body and an obstacle, which the display highlights in red. Notice that collisions between the obstacles are not checked.

show(obsList,"TimeStep",[1:numSteps],"ShowCollisions",1);
ylim([-20 20])
xlabel("X (m)")
ylabel("Y (m)")

Figure contains an axes object. The axes object contains 3 objects of type patch.

Programmatically check for collisions by using the checkCollision object function. The function returns a vector of logical values that indicates the status of each time step. The vector is transposed for display purposes.

collisions = checkCollision(obsList)'
collisions = 1x31 logical array

   0   0   0   0   0   0   0   0   0   0   0   0   1   1   1   1   1   1   1   1   1   1   0   0   0   0   0   0   0   0   0

To validate paths with a large number of steps, use the any function on the vector of collision values.

if any(collisions)
    disp("Collision detected.")
end
Collision detected.

Update Ego Path

Specify a new path for the ego body. Visualize the paths again, displaying collisions.

egoCapsule1.States = ...
    [linspace(0,100,numSteps)' ... % x
    3*sin(linspace(0,2*pi,numSteps))' ... % y
    zeros(numSteps,1)]; % theta

updateEgoPose(obsList,1,egoCapsule1);

show(obsList,"TimeStep",[1:numSteps],"ShowCollisions",1);
ylim([-20 20])

Figure contains an axes object. The axes object contains 3 objects of type patch.

Input Arguments

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Dynamic capsule list, specified as a dynamicCapsuleList or dynamicCapsuleList3D object.

IDs of obstacles to update, specified as a vector of positive integers.

States for ego bodies, specified as a structure or structure array, where each structure contains the fields of the structure in the Geometry field of the obstacle to be updated. Each element of the structure array contains a matrix of states for each ego body. The state matrix size depends on whether you are using a dynamicCapsuleList or dynamicCapsuleList3D object.

Data Types: struct

Output Arguments

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Result of updating obstacles, specified as N-element column vector of ones, zeros, and negative ones. N is the number of obstacles specified in the obstacleIDs argument. Each value indicates whether the obstacle is removed (1), not found (0), or a duplicate (-1). If you specify the same obstacle ID multiple times in the obstacleIDs input argument, then all entries besides the last are marked as a duplicate.

Extended Capabilities

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

Introduced in R2020b