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Simulation 3D Actor Transform Get

Get actor translation, rotation, scale

  • Library:
  • Vehicle Dynamics Blockset / Vehicle Scenarios / Sim3D / Sim3D Core

  • Simulation 3D Actor Transform Get block

Description

The Simulation 3D Actor Transform Get block provides the actor translation, rotation, and scale for the Simulink® simulation environment.

The block uses a vehicle-fixed coordinate system that is initially aligned with the inertial world coordinate system.

Coordinate system image showing roll, pitch, and yaw about x, y, and z axes, respectively

AxisDescription
X

Forward direction of the vehicle

Roll — Right-handed rotation about X-axis

Y

Extends to the right of the vehicle, initially parallel to the ground plane

Pitch — Right-handed rotation about Y-axis

Z

Extends upwards

Yaw — Left-handed rotation about Z-axis

Actors are scene objects that support 3D translation, rotation, and scale. Parts are actor components. Components do not exist by themselves; they are associated with an actor.

Tip

Verify that the Simulation 3D Scene Configuration block executes before the Simulation 3D Actor Transform Get block. That way, the Unreal Engine® 3D visualization environment prepares the data before the Simulation 3D Actor Transform Get block receives it. To check the block execution order, right-click the blocks and select Properties. On the General tab, confirm these Priority settings:

  • Simulation 3D Scene Configuration0

  • Simulation 3D Actor Transform Get1

For more information about execution order, see Control and Display Execution Order.

Ports

Output

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Actor translation, in m. Array dimensions are number of parts per actor-by-3.

  • Translation(1,1), Translation(1,2), and Translation(1,3) — Vehicle displacement along world X-, Y, and Z- axes, respectively.

  • Translation(...,1), Translation(...,2), and Translation(...,3) — Actor displacement relative to vehicle, in vehicle-fixed coordinate system initially aligned with world X-, Y, and Z- axes, respectively.

For example, consider a vehicle actor with a vehicle body and four wheels. The Translation signal:

  • Dimensions are [5x3].

  • Contains translation information according to the axle and wheel locations, relative to vehicle.

    Translation=[XvYvZvXFLYFLZFLXFRYFRZFRXRLYRLZRLXRRYRRZRR]

    TranslationArray Element

    Vehicle, Xv

    Translation(1,1)

    Vehicle, Yv

    Translation(1,2)

    Vehicle, Zv

    Translation(1,3)

    Front left wheel, XFL

    Translation(2,1)

    Front left wheel, YFL

    Translation(2,2)

    Front left wheel, ZFL

    Translation(2,3)

    Front right wheel, XFR

    Translation(3,1)

    Front right wheel, YFR

    Translation(3,2)

    Front right wheel, ZFR

    Translation(3,3)

    Rear left wheel, XRL

    Translation(4,1)

    Rear left wheel, YRL

    Translation(4,2)

    Rear left wheel, ZRL

    Translation(4,3)

    Rear right wheel, XRR

    Translation(5,1)

    Rear right wheel, YRR

    Translation(5,2)

    Rear right wheel, ZRR

    Translation(5,3)

Actor rotation across a [-pi/2, pi/2] range, in rad. Array dimensions are number of parts per actor-by-3.

  • Rotation(1,1), Rotation(1,2), and Rotation(1,3) — Vehicle rotation about vehicle-fixed pitch, roll, and yaw Y-, Z-, and X- axes, respectively.

  • Rotation(...,1), Rotation(...,2), and Rotation(...,3) — Actor rotation about vehicle-fixed pitch, roll, and yaw Y-, Z-, and X- axes, respectively.

For example, consider a vehicle actor with a vehicle body and four wheels. The Rotation signal::

  • Dimensions are [5x3].

  • Contains rotation information according to the axle and wheel locations.

    Rotation=[PitchvRollvYawvPitchFLRollFLYawFLPitchFRRollFRYawFRPitchRLRollRLYawRLPitchRRRollRRYawRR]

    RotationArray Element

    Vehicle, Pitchv

    Rotation(1,1)

    Vehicle, Rollv

    Rotation(1,2)

    Vehicle, Yawv

    Rotation(1,3)

    Front left wheel, PitchFL

    Rotation(2,1)

    Front left wheel, RollFL

    Rotation(2,2)

    Front left wheel, YawFL

    Rotation(2,3)

    Front right wheel, PitchFR

    Rotation(3,1)

    Front right wheel, RollFR

    Rotation(3,2)

    Front right wheel, YawFR

    Rotation(3,3)

    Rear left wheel, PitchRL

    Rotation(4,1)

    Rear left wheel, RollRL

    Rotation(4,2)

    Rear left wheel, YawRL

    Rotation(4,3)

    Rear right wheel, PitchRR

    Rotation(5,1)

    Rear right wheel, RollRR

    Rotation(5,2)

    Rear right wheel, YawRR

    Rotation(5,3)

Actor scale. Array dimensions are number of number of parts per actor-by-3.

  • Scale(1,1), Scale(1,2), and Scale(1,3) — Vehicle scale along world X-, Y-, and Z- axes, respectively.

  • Scale(...,1), Scale(...,2), and Scale(...,3) — Actor scale along world X-, Y-, and Z- axes, respectively.

For example, consider a vehicle actor with a vehicle body and four wheels. The Scale signal:

  • Dimensions are [5x3].

  • Contains scale information according to the axle and wheel locations.

    Scale=[XVscaleYVscaleZVscaleXFLscaleYFLscaleZFLscaleXFRscaleYFRscaleZFRscaleXRLscaleYRLscaleZRLscaleXRRscaleYRRscaleZRRscale]

    ScaleArray Element

    Vehicle, Xvscale

    Scale(1,1)

    Vehicle, Yvscale

    Scale(1,2)

    Vehicle, Zvscale

    Scale(1,3)

    Front left wheel, XFLscale

    Scale(2,1)

    Front left wheel, YFLscale

    Scale(2,2)

    Front left wheel, ZFLscale

    Scale(2,3)

    Front right wheel, XFRscale

    Scale(3,1)

    Front right wheel, YFRscale

    Scale(3,2)

    Front right wheel, ZFRscale

    Scale(3,3)

    Rear left wheel, XRLscale

    Scale(4,1)

    Rear left wheel, YRLscale

    Scale(4,2)

    Rear left wheel, ZRLscale

    Scale(4,3)

    Rear right wheel, XRRscale

    Scale(5,1)

    Rear right wheel, YRRscale

    Scale(5,2)

    Rear right wheel, ZRRscale

    Scale(5,3)

Parameters

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Actor name.

Actors are scene objects that support 3D translation, rotation, and scale. Parts are actor components. Components do not exist by themselves; they are associated with an actor.

The block does not support multiple instances of the same actor tag. To refer to the same scene actor when you use the 3D block pairs (e.g. Simulation 3D Actor Transform Get and Simulation 3D Actor Transform Set), specify the same Tag for actor in 3D scene, ActorTag parameter.

Number of parts per actor. Actors are scene objects that support 3D translation, rotation, and scale. Parts are actor components. Components do not exist by themselves; they are associated with an actor. Typically, a vehicle actor with a body and four wheels has 5 parts.

The block does not support multiple instances of the same actor tag. To refer to the same scene actor when you use the 3D block pairs (e.g. Simulation 3D Actor Transform Get and Simulation 3D Actor Transform Set), specify the same Tag for actor in 3D scene, ActorTag parameter.

Sample time, Ts. The graphics frame rate is the inverse of the sample time.

Introduced in R2018a