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Prepare robot scenario for simulation
Since R2022a
setup(scenario)
setup(scenario) prepares the robot scenario for simulation, sets poses of the platforms to their initial values, and generates initial sensor readings.
scenario
example
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Create a robot scenario.
scenario = robotScenario(UpdateRate=100,StopTime=1);
Add the ground plane and a cylinder as meshes.
addMesh(scenario,"Plane",Size=[30 30],Color=[0.7 0.7 0.7]) addMesh(scenario,"Cylinder",Position=[-2 4 0.5],Color=[0 1 1])
Create a robot platform with a specified waypoint trajectory in the scenario. Define the mesh for the robot platform.
traj = waypointTrajectory("Waypoints",[0 -10 0; 10 0 0; -10 10 0; 0 -10 0], ... "TimeOfArrival",[0 0.33 0.66 1], ... "ReferenceFrame","ENU"); platform = robotPlatform("Robot",scenario, ... BaseTrajectory=traj); updateMesh(platform,"GroundVehicle",Scale=3);
Simulate and visualize the scenario.
setup(scenario); idx = 1; while advance(scenario) motion(idx,:) = read(platform); show3D(scenario); drawnow update idx = idx+1; end
restart(scenario);
robotScenario
Robot scenario, specified as a robotScenario object.
Introduced in R2022a
robotPlatform
robotSensor
addInertialFrame
addMesh
advance
binaryOccupancyMap
restart
show3D
updateSensors
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