Main Content

restart

Reset simulation of robot scenario

    Description

    example

    restart(scenario) resets the simulation of the robot scenario scene. The function resets poses of the platforms and sensor readings to NaN, resets the CurrentTime property of the scenario to 0, and resets the IsRunning property of the scenario to false.

    Examples

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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

    Figure contains an axes object. The axes object contains 3 objects of type patch.

    restart(scenario);

    Input Arguments

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    Robot scenario, specified as a robotScenario object.

    Version History

    Introduced in R2022a