Update pose for platform
the estimated pose,
p = pose(
p, of the platform
scenario coordinates. The platform must already exist in the radar scenario. Add platforms
to a scenario using the
function. The pose is estimated by a pose estimator specified in the
PoseEstimator property of the platform.
Get Pose of Platform
Create a radar scenario.
rs = radarScenario;
Add a platform to the scenario.
plat = platform(rs); plat.Trajectory.Position = [1 1 0]; plat.Trajectory.Orientation = quaternion([90 0 0],'eulerd','ZYX','frame');
Extract the pose of the platform.
p = pose(plat)
p = struct with fields: Orientation: [1x1 quaternion] Position: [1 1 0] Velocity: [0 0 0] Acceleration: [0 0 0] AngularVelocity: [0 0 0]
type — Source of platform pose information
'estimated' (default) |
Source of the platform pose information, specified as one of these values:
'estimated'— Estimate poses using the pose estimator specified in the
PoseEstimatorproperty of the radar scenario.
'true'— Return the true pose of the platform.
coordinateSystem — Coordinate system to report pose
'Cartesian' (default) |
Coordinate system to report pose, specified as one of these values:
'Cartesian'— Report poses using Cartesian coordinates in the Earth-Centered-Earth-Fixed coordinate frame.
'Geodetic'— Report poses using geodetic coordinates (latitude, longitude, and altitude). Report orientation, velocity, and acceleration in the local reference frame (North-East-Down by default) corresponding to the current waypoint.
Specify this argument only when the
IsEarthCentered property of
the radar scenario is set to
p — Pose of platform
Pose of the platform, returned as a structure. Pose consists of the position, velocity, orientation, and angular velocity of the platform with respect to the radar scenario coordinates. The structure has these fields.
Unique identifier for the platform, specified as a positive integer. This is a required field with no default value.
User-defined integer used to classify the type of target, specified as a nonnegative integer. Zero is reserved for unclassified platform types and is the default value.
Position of target in scenario coordinates, specified as a real-valued 1-by-3 row vector.
Velocity of platform in scenario coordinates, specified as a real-valued 1-by-3 row
vector. Units are meters per second. The default value is
Acceleration of the platform in scenario coordinates, specified as a
1-by-3 row vector in meters per second squared. The default value is
Orientation of the platform with respect to the local scenario navigation frame,
specified as a scalar quaternion or a 3-by-3 rotation matrix. Orientation
defines the frame rotation from the local navigation coordinate system to
the current platform body coordinate system. Units are dimensionless. The
default value is
Angular velocity of the platform in scenario coordinates, specified as a real-valued
1-by-3 vector. The magnitude of the vector defines the angular speed. The
direction defines the axis of clockwise rotation. Units are degrees per
second. The default value is
Introduced in R2021a