Main Content

setup

Prepare robot scenario for simulation

    Description

    example

    setup(scenario) prepares the robot scenario for simulation, sets poses of the platforms to their initial values, and generates initial sensor readings.

    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