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record

Run tracking scenario and record platform states

Syntax

rec = record(sc)
rec = record(sc,fmt)

Description

rec = record(sc) returns a record, rec, of the evolution of the tracking scenario simulation, sc. The record function starts the simulation from the beginning,

rec = record(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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Records of platform states during the simulation, returned as an M-by-1 vector of structures. M is the number of time steps in the simulation. Each record corresponds to a simulation time step and contains the poses of all the platforms at that time. The record structure has these fields:

SimulationTime
Poses
The SimulationTime field contains the simulation time of the record. Poses is an N-by-1 vector of structures, where N is the number of platforms. Each Poses 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