This is machine translation

Translated by Microsoft
Mouseover text to see original. Click the button below to return to the English version of the page.

Note: This page has been translated by MathWorks. Click here to see
To view all translated materials including this page, select Country from the country navigator on the bottom of this page.

Platform.pose

Pose of platform

Syntax

pse = pose(ptfm,type)

Description

pse = pose(ptfm,type) returns the pose, pse, of the platform ptfm, in scenario coordinates. The platform must already exist in the tracking scenario. Add platforms to a scenario using the platform method.

Input Arguments

collapse all

Scenario platform, specified as a Platform object. To create platforms, use the platform method.

Source of platform pose information, specified as 'estimated' or 'true'. When set to 'estimated', the pose is estimated using the pose estimator specified in the PoseEstimator property of the tracking scenario. When 'true' is selected, the true pose of the platform is returned.

Example: 'true'

Data Types: char

Output Arguments

collapse all

Pose of platform, returned as a structure. Pose consists of the position, velocity, orientation, and angular velocity of the platform with respect to scenario coordinates. The returned structure has these fields:

FieldDescription
PlatformID

Unique identifier for the platform, specified as a scalar positive integer. This is a required field with no default value.

ClassID

User-defined integer used to classify the type of target, specified as a nonnegative integer. Zero is reserved for unclassified platform types and is the default value.

Position

Position of target in scenario coordinates, specified as a real-valued 1-by-3 vector. This is a required field with no default value. Units are in meters.

Velocity

Velocity of platform in scenario coordinates, specified as a real-valued 1-by-3 vector. Units are in meters per second. The default value is [0 0 0].

Acceleration

Acceleration of the platform in scenario coordinates, specified as a 1-by-3 row vector in meters per second-squared. The default value is [0 0 0].

Orientation

Orientation of the platform with respect to the local scenario NED coordinate frame, specified as a scalar quaternion or a 3-by-3 rotation matrix. The format is specified by the fmt input argument. Orientation defines the frame rotation from the local NED coordinate system to the current platform body coordinate system. Units are dimensionless. The default value is quaternion(1,0,0,0).

AngularVelocity

Angular velocity of the platform in scenario coordinates, specified as a real-valued 1-by-3 vector. The magnitude of the vector defines the angular speed. The direction defines the axis of clockwise rotation. Units are in degrees per second. The default is value [0 0 0].

See Also

| |

Introduced in R2018b