platformPoses

Positions, velocities, and orientations of all platforms in tracking scenario

Syntax

poses = platformPoses(sc)
poses = platformPoses(sc,fmt)

Description

poses = platformPoses(sc) returns the current poses for all platforms in the tracking scenario, sc. Pose is the position, velocity, and orientation of a platform relative to scenario coordinates. Platforms are Platform objects.

poses = platformPoses(sc,fmt) also specifies the format, fmt, of the returned platform orientation.

Input Arguments

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Tracking scenario, specified as a trackingScenario object.

Pose orientation format, specified as 'quaternion' or 'rotmat'. When specified as 'quaternion', the Orientation field of the platform pose structure is a quaternion. When specified as 'rotmat', the Orientation field is a rotation matrix.

Example: 'rotmat'

Data Types: char

Output Arguments

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Poses of all platforms in the tracking scenario, returned as a structure or array of structures. The pose structure contains 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].

Data Types: struct

Introduced in R2018b