Get transform between body frames
Robotics System Toolbox / Manipulator Algorithms
The Get Transform block returns the homogeneous transformation between
body frames on the Rigid body tree robot model. Specify a
rigidBodyTree object for the robot model, and select a source and target
body in the block.
The block uses Config, the robot configuration (joint positions) input, to calculate the transformation from the source body to the target body. This transformation is used to convert coordinates from the source to the target body. To convert to base coordinates, use the base body name as the Target body parameter.
Config — Robot configuration
Robot configuration, specified as a vector of positions for all
nonfixed joints in the robot model, as set by the Rigid body
tree parameter. You can also generate this vector for a
complex robot using the
functions inside a Constant or MATLAB
Transform — Homogeneous transform
Homogeneous transform, returned as a 4-by-4 matrix.
Rigid body tree — Robot model
twoJointRigidBodyTree (default) |
Robot model, specified as a
rigidBodyTree object. You
can also import a robot model from an URDF (Unified Robot Description
Formation) file using
The default robot model,
twoJointRigidBodyTree, is a
robot with revolute joints and two degrees of freedom.
Target body — Target body name
Target body name, specified as a body name from the robot model specified in Rigid body tree. To access body names from the robot model, click Select body. The target frame is the coordinate system you want to transform points into.
Source body — Source body name
Source body name, specified as a body name from the robot model specified in Rigid body tree.To access body names from the robot model, click Select body. The source frame is the coordinate system you want points transformed from.
Simulate using — Type of simulation to run
Interpreted execution (default) |
Interpreted execution— Simulate model using the MATLAB® interpreter. This option shortens startup time but has a slower simulation speed than
Code generation. In this mode, you can debug the source code of the block.
Code generation— Simulate 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, but the speed of the subsequent simulations is comparable to
C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.
Introduced in R2018a