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sim3d.sensors.Lidar

Implement lidar sensor model

Since R2024b

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    Description

    Use the sim3d.sensors.Lidar object to implement a lidar sensor in a 3D environment. After you create a sim3d.sensors.Lidar object, you can modify aspects of the actor object by setting property values.

    Creation

    Syntax

    lidar = sim3d.sensors.Lidar()
    lidar = sim3d.sensors.Lidar(Name=Value)

    Description

    lidar = sim3d.sensors.Lidar() creates a default sim3d.sensors.Lidar object in the 3D environment.

    lidar = sim3d.sensors.Lidar(Name=Value) specifies options using one or more optional name-value arguments. For example, to create a lidar sensor with a range of 100 meters, set Range to 100.

    Input Arguments

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    Name-Value Arguments

    Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

    Example: lidar = sim3d.sensors.Lidar(ActorName='Lidar',Range=100)

    Name of actor, specified as a character array or string. If you do not specify an actor name, then the software assigns the actor an autogenerated name. Use this argument to set the name of the sim3d.sensors.Lidar object.

    Note

    If you specify the same name as an actor that already exists, then the software appends actor name you specify with a unique identifier.

    Relative translation (x,y,z) of the actor object to its parent actor, specified as a real 1-by-3 vector, in m. Use Translation to change the position of the sim3d.sensors.Lidar object in the 3D environment along the X, Y, and Z axes of the coordinate system. When you add an actor to the 3D environment, the default parent actor is the Scene Origin at (0,0,0).

    Example: Translation=[1 2 1]

    Relative rotation (roll, pitch, yaw) of the actor object to its parent actor, specified as a real 1-by-3 vector, in rad. Use Rotation to rotate the sim3d.sensors.Lidar object in the 3D environment.

    Example: Rotation=[pi/4 pi/8 pi/2]

    Maximum distance measured by the lidar sensor, specified as a positive scalar less than or equal to 500, in m. Points outside this range are ignored.

    Example: Range=100

    Vertical field of view of the lidar sensor, specified as a positive scalar less than or equal to 90, in degrees.

    Example: VerticalFieldOfView=60

    Vertical angular resolution of the lidar sensor, specified as a positive scalar, in degrees.

    Example: VerticalAngularResolution=1.5

    Horizontal field of view of the lidar sensor, specified as a positive scalar, in degrees.

    Example: HorizontalFieldOfView=120

    Horizontal angular (azimuth) resolution of the lidar sensor, specified as a positive scalar, in degrees.

    Example: HorizontalAngularResolution=0.2

    Resolution of the lidar sensor range, in m, specified as a positive real scalar. The minimal value of this factor is Drange / 224, where Drange is the maximum distance measured by the lidar sensor, as specified by Range.

    Example: RangeQuantizationFactor=0.001

    Properties

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    Parent of actor, specified as a handle to the parent actor object. After you add an actor to the sim3d.World object, the default parent actor is the Scene Origin at (0,0,0). Use Parent to set any actor in the 3D environment as the parent actor of a sim3d.sensors.Lidar object.

    This property is read-only.

    Children of actor, specified as a structure. Each field of the structure contains a handle to the child of a sim3d.sensors.Lidar object.

    Parent world, specified as a handle to the parent sim3d.World object. You can use this property only if the sim3d.sensors.Lidar object is added to the parent sim3d.World object.

    This property is read-only.

    Unique ID of the sensor, specified as a real positive scalar.

    Data Types: uint32

    Relative translation (x,y,z) of the actor object to its parent actor, specified as a real 1-by-3 vector, in m. Use Translation to change the position of the sim3d.sensors.Lidar object in the 3D environment along the X, Y, and Z axes of the coordinate system. When you add an actor to the 3D environment, the default parent actor is the Scene Origin at (0,0,0).

    Example: lidar.Translation = [1 2 1]

    Relative rotation (roll, pitch, yaw) of the actor object to its parent actor, specified as a real 1-by-3 vector, in rad. Use Rotation to rotate the sim3d.sensors.Lidar object in the 3D environment.

    Example: lidar.Rotation = [pi/4 pi/8 pi/2]

    Type of actor mobility to respond to physics, move the actor during simulation, or both, specified as 'sim3d.utils.MobilityTypes.Movable' or 'sim3d.utils.MobilityTypes.Static'.

    Example: lidar.Mobility = sim3d.utils.MobilityTypes.Movable

    Data Types: sim3d.utils.MobilityTypes

    Maximum distance measured by the lidar sensor, specified as a positive scalar less than or equal to 500, in m. Points outside this range are ignored.

    Example: lidar.Range = 100

    Vertical field of view of the lidar sensor, specified as a positive scalar less than or equal to 90, in degrees.

    Example: lidar.VerticalFieldOfView = 60

    Vertical angular resolution of the lidar sensor, specified as a positive scalar, in degrees.

    Example: lidar.VerticalAngularResolution = 1.5

    Horizontal field of view of the lidar sensor, specified as a positive scalar, in degrees.

    Example: lidar.HorizontalFieldOfView = 120

    Horizontal angular (azimuth) resolution of the lidar sensor, specified as a positive scalar, in degrees.

    Example: lidar.HorizontalAngularResolution = 0.2

    Resolution of the lidar sensor range, in m, specified as a positive real scalar. The minimal value of this factor is Drange / 224, where Drange is the maximum distance measured by the lidar sensor, as specified by Range.

    Example: lidar.RangeQuantizationFactor = 0.001

    Object Functions

    readReturn target data using lidar

    Version History

    Introduced in R2024b

    See Also

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