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updateSensors

Update sensor readings in robot scenario

    Description

    example

    updateSensors(scenario) updates all sensor readings based on latest states of all platforms in the robot scenario, scenario.

    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.

    Version History

    Introduced in R2022a