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show3D

Visualize robot scenario in 3-D

    Description

    example

    [ax,plottedFrames] = show3D(scenario) visualizes latest states of the platforms and sensors in the robot scenario scene along with all static meshes. The function also returns the axes on which the scene is plotted and the frames on which each object is plotted.

    [ax,plottedFrames] = show3D(scenario,time) visualizes the robot scenario at the specified time.

    [ax,plottedFrames] = show3D(___,Name=Value) specifies additional options using name-value pair arguments.

    Examples

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    Create a robot scenario.

    scenario = robotScenario(UpdateRate=100,StopTime=1);

    Add the ground plane and a box as meshes.

    addMesh(scenario,"Plane",Size=[3 3],Color=[0.7 0.7 0.7]);
    addMesh(scenario,"Box",Size=[0.5 0.5 0.5],Position=[0 0 0.25], ...
            Color=[0 1 0])

    Create a waypoint trajectory for the robot platform using an ENU reference frame.

    waypoint = [0 -1 0; 1 0 0; -1 1 0; 0 -1 0];
    toa = linspace(0,1,length(waypoint));
    traj = waypointTrajectory("Waypoints",waypoint, ...
                              "TimeOfArrival",toa, ...
                              "ReferenceFrame","ENU");

    Create a rigidBodyTree object of the TurtleBot 3 Waffle Pi robot with loadrobot.

    robotRBT = loadrobot("robotisTurtleBot3WafflePi");

    Create a robot platform with trajectory.

    platform = robotPlatform("TurtleBot",scenario, ...
                             BaseTrajectory=traj);

    Set up platform mesh with the rigidBodyTree object.

    updateMesh(platform,"RigidBodyTree",Object=robotRBT)

    Create an INS sensor object and attach the sensor to the platform.

    ins = robotSensor("INS",platform,insSensor("RollAccuracy",0), ...
                      UpdateRate=scenario.UpdateRate);

    Visualize the scenario.

    [ax,plotFrames] = show3D(scenario);
    axis equal
    hold on

    In a loop, step through the trajectory to output the position, orientation, velocity, acceleration, and angular velocity.

    count = 1;
    while ~isDone(traj)
        [Position(count,:),Orientation(count,:),Velocity(count,:), ...
         Acceleration(count,:),AngularVelocity(count,:)] = traj();
        count = count+1;
    end

    Create a line plot for the trajectory. First create the plot with plot3, then manually modify the data source properties of the plot. This improves the performance of the plotting.

    trajPlot = plot3(nan,nan,nan,"Color",[1 1 1],"LineWidth",2);
    trajPlot.XDataSource = "Position(:,1)";
    trajPlot.YDataSource = "Position(:,2)";
    trajPlot.ZDataSource = "Position(:,3)";

    Set up the simulation. Then, iterate through the positions and show the scene each time the INS sensor updates. Advance the scene, move the robot platform, and update the sensors.

    setup(scenario)
    for idx = 1:count-1
        % Read sensor readings.
        [isUpdated,insTimestamp(idx,1),sensorReadings(idx)] = read(ins);
        if isUpdated
            % Use fast update to move platform visualization frames.
            show3D(scenario,FastUpdate=true,Parent=ax);
            % Refresh all plot data and visualize.
            refreshdata
            drawnow limitrate
        end
        % Advance scenario simulation time.
        advance(scenario);
        % Update all sensors in the scene.
        updateSensors(scenario)
    end
    hold off

    {"String":"Figure contains an axes object. The axes object contains 28 objects of type patch, line.","Tex":[],"LaTex":[]}

    Input Arguments

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    Robot scenario, specified as a robotScenario object.

    Time stamp at which to show the scenario, specified as a nonnegative scalar. The time stamp must already be saved in the scenario. To change the number of saved time stamps, use the HistoryBufferSize property of the robotScenario object, scenario.

    Data Types: single | double

    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.

    Before R2021a, use commas to separate each name and value, and enclose Name in quotes.

    Example: ax = show3D(scenario,FastUpdate=true)

    Parent axes for plotting, specified as an axes object or a uiaxes object.

    Enable updating from previous map, specified as true or false. When specified as true, the function plots the map via a lightweight update to the previous map in the figure. When specified as false, the function plots the whole scene on the figure every time.

    Example: FastUpdate=true

    Data Types: logical

    View point of plot, specified as "3D", "Top", or "Side".

    Example: View="Side"

    Data Types: string

    Output Arguments

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    Axes on which the scenario is plotted, returned as an axes object or a uiaxes object.

    Plotted frame information, returned as a structure of hgtransform objects.

    Version History

    Introduced in R2022a