addMesh
Description
adds one or more meshes to the truncated signed distance field (TSDF), computes the TSDF
around the added meshes, and returns an indication of which meshes were successfully
added.isAdded
= addMesh(mTSDF
,meshStruct
)
Examples
Add Meshes to Mesh TSDF Manager
Create two collision boxes and one collision sphere. The collision boxes represent a static environment and the sphere represents a dynamic obstacle with a pose that could change at any time.
box1 = collisionBox(0.5,1,0.1);
box2 = collisionBox(0.5,0.1,0.2,Pose=trvec2tform([0 -0.45 0.15]));
sph = collisionSphere(0.125,Pose=trvec2tform([-0.1 0.25 0.75]));
showCollisionArray({box1,box2,sph});
title("Static Environment and Dynamic Obstacle")
v = [110 10];
view(v);
Create a mesh TSDF manager with a resolution of 40
cells per meter and a truncation distance of 0.1
meters.
tsdfs = meshtsdf(Resolution=40,TruncationDistance=0.1);
To improve the efficiency of signed distance field computation, combine meshes that represent the static environment.
staticMeshes = geom2struct({box1,box2}); staticEnv = staticMeshes(1); staticEnv.Pose = eye(4); staticEnv.Vertices = []; staticEnv.Faces = []; for i = 1:numel(staticMeshes) H = staticMeshes(i).Pose; V = staticMeshes(i).Vertices*H(1:3,1:3)'+ H(1:3,end)'; nVert = size(staticEnv.Vertices,1); staticEnv.Vertices = [staticEnv.Vertices; V]; staticEnv.Faces = [staticEnv.Faces; staticMeshes(i).Faces+nVert]; end staticEnv.ID = 1;
Add the static environment mesh to the TSDF manager.
addMesh(tsdfs,staticEnv);
Convert the sphere collision geometry into a structure for the mesh TSDF manager. Assign it an ID of 2 and add it to the mesh TSDF manager.
obstacleID = 2; dynamicObstacle = geom2struct(sph,obstacleID); addMesh(tsdfs,dynamicObstacle); show(tsdfs) view(v) axis equal; title("Mesh TSDFs of Static Environment and Dynamic Obstacle");
Update the pose of the dynamic obstacle in the mesh TSDF manager by changing Pose
property of the object handle of the obstacle. Then use the updatePose
function to update the pose of the mesh in the TSDF manager.
dynamicObstacle.Pose = trvec2tform([0.2 0.25 0.2]); updatePose(tsdfs,dynamicObstacle)
ans = 1
show(tsdfs) view(v) axis equal title("Updated Dynamic Obstacle Pose")
Input Arguments
mTSDF
— Truncated signed distance field for 3-D meshes
meshtsdf
object
Truncated signed distance field for 3-D meshes, specified as a meshtsdf
object.
Example: meshtsdf(meshes,TruncationDistance=5)
creates a TSDF for the
specified meshes with a truncation distance of 5
meters.
meshStruct
— Geometry mesh structure
structure | N-element structure array
Geometry mesh, returned as a structure or an N-element structure array. N is the total number of collision objects.
Each structure contains these fields:
ID
— ID of the geometry structure stored as a positive integer. By default, the ID of each structure corresponds to the index of the structure inmeshStruct
. For example, ifmeshStruct
contains five mesh structures, the first mesh structure at index 1 has anID
of1
, and the last mesh structure at index 5 has anID
of5
.Vertices
— Vertices of the geometry, stored as an M-by-3 matrix. Each row represents a vertex in the form [x y z] with respect to the reference frame defined byPose
. M is the number of vertices needed to represent the convex hull of the mesh.Faces
— Faces of the geometry, stored as an M-by-3 matrix. Each row contains three indices corresponding to vertices inVertices
that define a triangle faces of the geometry. M is the number of vertices inVertices
.Pose
— Pose of the geometry as a 4-by-4 homogeneous transformation matrix specifying a transformation from the world frame to the frame in which the vertices are defined.
Data Types: struct
Output Arguments
isAdded
— Indication of whether meshes were added or not
true
or 1
| false
or 0
| N-element vector of logical scalars
Indication of whether meshes were added or not, returned as logical
1
(true
) if the mesh was successfully added or
0
(false
) if the mesh you are adding a mesh with
an ID that already exists in mTSDF
. If
meshStruct
is an N-element of mesh structures,
then isAdded
is an N-element vector of logical
scalars corresponding to each of the N mesh structures in
meshStruct
.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Version History
Introduced in R2024a
See Also
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