subtree

Create subtree from robot model

Syntax

newSubtree = subtree(robot,bodyname)

Description

newSubtree = subtree(robot,bodyname) creates a new robot model using the parent name of the body specified by bodyname as the base name. All subsequently attached bodies (including the body with bodyname specified) are added to the subtree. The original robot model is unaffected.

Input Arguments

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`robot` — Robot model
`rigidBodyTree` object

Robot model, specified as a rigidBodyTree object.

`bodyname` — Body name
string scalar | character vector

Body name, specified as a string scalar or character vector. This body must be on the robot model specified in robot.

Data Types: char | string

Output Arguments

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`newSubtree` — Robot subtree
`rigidBodyTree` object

Robot subtree, returned as a rigidBodyTree object. This new subtree uses the parent name of the body specified by bodyname as the base name. All bodies that are attached in the previous robot model (including the body with bodyname specified) are added to the subtree.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Usage notes and limitations:

When creating the rigidBodyTree object, use the syntax that specifies the MaxNumBodies as an upper bound for adding bodies to the robot model. You must also specify the DataFormat property as a name-value pair. For example:

robot = rigidBodyTree("MaxNumBodies",15,"DataFormat","row")

To minimize data usage, limit the upper bound to a number close to the expected number of bodies in the model. All data formats are supported for code generation. To use the dynamics functions, the data format must be set to "row" or "column".

The show and showdetails functions do not support code generation.

Version History

Introduced in R2016b

subtree

Syntax

Description

Input Arguments

robot — Robot model rigidBodyTree object

bodyname — Body name string scalar | character vector