lookupPose
Obtain pose information for certain time
Description
[
returns the pose information of the waypoint trajectory at the specified sample times. If
any sample time is beyond the duration of the trajectory, the corresponding pose information
is returned as position
,orientation
,velocity
,acceleration
,angularVelocity
] = lookupPose(traj
,sampleTimes
)NaN
.
Examples
Create Trajectory Using Waypoints and Ground Speed
Create a waypointTrajectory
object that connects two waypoints. The velocity of the trajectory at the two waypoints is 0 and 10 , respectively. Restrict the jerk limit to 0.5 to enable the trapezoidal acceleration profile.
waypoints = [0 0 0; 10 50 10]; speeds = [0 10]; jerkLimit = 0.5; trajectory = waypointTrajectory(waypoints,GroundSpeed=speeds,JerkLimit=jerkLimit);
Obtain the initial time and final time of the trajectory by querying the TimeOfArrival
property. Create time stamps to sample the trajectory.
t0 = trajectory.TimeOfArrival(1); tf = trajectory.TimeOfArrival(end); sampleTimes = linspace(t0,tf,100);
Obtain the position, velocity, and acceleration information at these sampled time stamps using the lookupPose
object function.
[position,~,velocity,acceleration,~] = lookupPose(trajectory,sampleTimes);
Plot the trajectory.
figure() plot3(position(:,1),position(:,2),position(:,3)) xlabel("x (m)") ylabel("y (m)") zlabel("z (m)") title("Trajectory")
Plot the velocity profile.
figure() subplot(3,1,1) plot(sampleTimes,velocity(:,1)); ylabel("v_x (m/s)") title("Velocity Profile") subplot(3,1,2) plot(sampleTimes,velocity(:,2)); ylabel("v_y (m/s)") subplot(3,1,3) plot(sampleTimes,velocity(:,3)); ylabel("v_z (m/s)") xlabel("Time (sec)")
Plot the acceleration profile. From the results, the acceleration profile of the planar motion is trapezoidal.
figure() subplot(3,1,1) plot(sampleTimes,acceleration(:,1)); axis padded ylabel("a_x (m/s^2)") title("Acceleration Profile") subplot(3,1,2) plot(sampleTimes,acceleration(:,2)); ylabel("a_y (m/s^2)") axis padded subplot(3,1,3) plot(sampleTimes,acceleration(:,3)); ylabel("a_z (m/s^2)") xlabel("Time (sec)")
Input Arguments
traj
— Waypoint trajectory
waypointTrajectory
object
Waypoint trajectory, specified as a waypointTrajectory
object.
sampleTimes
— Sample times
M-element vector of nonnegative scalar
Sample times in seconds, specified as an M-element vector of nonnegative scalars.
Output Arguments
position
— Position in local navigation coordinate system (m)
M-by-3 matrix
Position in the local navigation coordinate system in meters, returned as an M-by-3 matrix.
M is specified by the sampleTimes
input.
Data Types: double
orientation
— Orientation in local navigation coordinate system
M-element quaternion column vector | 3-by-3-by-M real array
Orientation in the local navigation coordinate system, returned as an
M-by-1 quaternion
column vector
or a 3-by-3-by-M real array.
Each quaternion or 3-by-3 rotation matrix is a frame rotation from the local navigation coordinate system to the current body coordinate system.
M is specified by the sampleTimes
input.
Data Types: double
velocity
— Velocity in local navigation coordinate system (m/s)
M-by-3 matrix
Velocity in the local navigation coordinate system in meters per second, returned as an M-by-3 matrix.
M is specified by the sampleTimes
input.
Data Types: double
acceleration
— Acceleration in local navigation coordinate system (m/s2)
M-by-3 matrix
Acceleration in the local navigation coordinate system in meters per second squared, returned as an M-by-3 matrix.
M is specified by the sampleTimes
input.
Data Types: double
angularVelocity
— Angular velocity in local navigation coordinate system (rad/s)
M-by-3 matrix
Angular velocity in the local navigation coordinate system in radians per second, returned as an M-by-3 matrix.
M is specified by the sampleTimes
input.
Data Types: double
Version History
Introduced in R2019b
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