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updateTransform

Update frame transform relative to its parent

Since R2022a

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Syntax

updateTransform(frames,parentframe,childframe,position,orientation,timestamp)
updateTransform(frames,parentframe,childframe,tform,timestamp)

Description

updateTransform(frames,parentframe,childframe,position,orientation,timestamp) updates the relative transforms between child frames and their parents with a given position and orientation at the specified time stamps. The position and orientation are given in the parent reference frame.

updateTransform(frames,parentframe,childframe,tform,timestamp) updates the relative transforms between child frames and their parents with a given homogenous transform, tform.

Input Arguments

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Transform tree defining the child-parent frame relationship at given timestamps, specified as a transformTree object.

Parent frame name specified as a string scalar or character vector.

Data Types: char | string

Child frame name specified as a string scalar or character vector.

Data Types: char | string

Relative position of child frame to parent, specified as a N-by-3 matrix. N corresponds to the number of time stamps defined by timeStamp. Each row of the matrix corresponds to the x-, y-, and z- positions of the child frame in each time stamp.

Relative orientation of child frame to parent, specified as a N-by-4 matrix or N-by-1 quaternion array. N corresponds to the number of time stamps defined by timeStamp. Each row of the matrix represents the quaternion of rotation of the child frame in each time stamp.

Relative transform of child frame to parent, specified as a 4-by-4-by-N homogenous transformation matrix. N corresponds to the number of time stamps defined by timeStamp. Each 4-by-4 matrix corresponds to the relative transform of child frame to parent in each time stamp

Time for specifying the timestamps corresponding to the transformations, specified as a scalar or vector of scalars in seconds.

Version History

Introduced in R2022a

See Also

Objects

Functions