read

Read robot platform in scenario

Since R2022a

Syntax

motion = read(platform,"base")

config = read(platform,"joint")

Description

motion = read(platform,"base") reads the latest motion of the robot platform base in the scenario.

config = read(platform,"joint") reads the latest joint configuration of the rigidBodyTree-based robot platform base in the scenario.

Examples

Simulate Simple Robot Scenario

Create a robot scenario.

scenario = robotScenario(UpdateRate=100,StopTime=1);

Add the ground plane and a cylinder as meshes.

addMesh(scenario,"Plane",Size=[30 30],Color=[0.7 0.7 0.7])
addMesh(scenario,"Cylinder",Position=[-2 4 0.5],Color=[0 1 1])

Create a robot platform with a specified waypoint trajectory in the scenario. Define the mesh for the robot platform.

traj = waypointTrajectory("Waypoints",[0 -10 0; 10 0 0; -10 10 0; 0 -10 0], ...
                          "TimeOfArrival",[0 0.33 0.66 1], ...
                          "ReferenceFrame","ENU");
platform = robotPlatform("Robot",scenario, ...
                         BaseTrajectory=traj);
updateMesh(platform,"GroundVehicle",Scale=3);

Simulate and visualize the scenario.

setup(scenario); 
idx = 1;
while advance(scenario)
    motion(idx,:) = read(platform);
    show3D(scenario); 
    drawnow update
    idx = idx+1;
end

restart(scenario);

Input Arguments

platform — Robot platform in scenario

robotPlatform object

Robot platform in the scenario, specified as a robotPlatform object.

Output Arguments

motion — Robot platform motion at current instance in scenario

16-element vector

Robot platform motion at the current instance in the scenario, returned as a 16-element vector with these elements in order:

• [x y z] — Positions in xyz-axes in meters.

• [vx vy vz] — Velocities in xyz-directions in meters per second.

• [ax ay az] — Accelerations in xyz-directions in meters per second squared.

• [qw qx qy qz] — Quaternion vector for orientation.

• [wx wy wz] — Angular velocities in radians per second.

Data Types: single | double

config — Robot platform joint configuration at current instance in scenario

N-element vector

Robot platform joint configuration at the current instance in the scenario, returned as an N-element vector. N is the total number of joints associated with the rigidBodyTree object.

Data Types: single | double

Version History

Introduced in R2022a