updatePose

Update pose of collision capsule of rigid body

Since R2022b

Syntax

updatePose(capapprox,bodyname,pose)

updatePose(___,idx)

Description

updatePose(capapprox,bodyname,pose) updates the pose of the first collision capsule of the rigid body with the new pose.

updatePose(___,idx) updates the pose of the collision capsule at index idx, in addition to the arguments from the previous syntax.

Examples

Create and Modify Capsule Approximation

Load a robot into the workspace and visualize it.

robotIRB = loadrobot("abbIrb120");
show(robotIRB);

Create a capsule approximation of the robot, and visualize the capsule-approximated robot model.

capsIRB = capsuleApproximation(robotIRB);
figure
show(capsIRB,homeConfiguration(capsIRB.RigidBodyTree));

Use the getCapsules function to see if the end effector, "tool0", has any collision capsules. Because tool0 is just a frame, it has no collision mesh to approximate as a collision capsule.

capsulesTool = getCapsules(capsIRB,"tool0")

capsulesTool =

  1×0 empty cell array

Add a capsule to tool0, at a position 0.15 meters along the x-axis, with a radius of 0.15 and a length of 0.

addCapsule(capsIRB,"tool0",[0.15 0],trvec2tform([0.15 0 0]))
show(capsIRB,homeConfiguration(capsIRB.RigidBodyTree));

Again check tool0 for a collision capsule, and verify the properties of the detected capsule.

capsulesTool = getCapsules(capsIRB,"tool0")

capsulesTool = 1×1 cell array
    {1×1 collisionCapsule}

capsulesTool{1}

ans = 
  collisionCapsule with properties:

    Radius: 0.1500
    Length: 0
      Pose: [4×4 double]

Remove the capsule from the base link. Then, reduce the collision capsule size of tool0, and move it -0.05 meters from the previous position along the x-axis.

removeCapsule(capsIRB,"base_link",1)
updatePose(capsIRB,"tool0",trvec2tform([-0.05 0 0]),1)
updateGeometry(capsIRB,"tool0",[.1 0.01],1)
show(capsIRB,homeConfiguration(capsIRB.RigidBodyTree));

Input Arguments

capapprox — Capsule approximation of rigid body tree

capsuleApproximation object

Capsule approximation of a rigid body tree, specified as a capsuleApproximation object.

bodyname — Name of rigid body

string scalar | character vector

Name of the rigid body, specified as a string scalar or character vector. The rigid body must exist in the rigidBodyTree object of the RigidBodyTree property of capsapprox.

Example: "EndEffectorTool"

Data Types: char | string

idx — Index of collision capsule in rigid body

nonnegative integer

Index of the collision capsule in the rigid body, specified as a nonnegative integer.

Example: 5

pose — Updated pose for collision capsule

4-by-4 matrix

Updated pose for the collision capsule, specified as a 4-by-4 homogeneous transformation matrix defined with respect to the frame of the rigid body bodyname.

Example: eye(4)

Extended Capabilities

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

Version History

Introduced in R2022b