pose

Update pose for platform

Since R2021a

Syntax

p = pose(plat)

p = pose(plat,type)

p = pose(___,'CoordinateSystem',coordinateSystem)

Description

p = pose(plat) returns the estimated pose, p, of the platform plat, in scenario coordinates. The platform must already exist in the radar scenario. Add platforms to a scenario using the platform function. The pose is estimated by a pose estimator specified in the PoseEstimator property of the platform.

p = pose(plat,type) specifies the source of the platform pose information, type, as 'estimated' or 'true'.

p = pose(___,'CoordinateSystem',coordinateSystem) specifies the coordinate system of the pose. You can use this syntax only when the IsEarthCentered property of the radar scenario is set to true.

Examples

Get Pose of Platform

Create a radar scenario.

rs = radarScenario;

Add a platform to the scenario.

plat = platform(rs);
plat.Trajectory.Position = [1 1 0];
plat.Trajectory.Orientation = quaternion([90 0 0],'eulerd','ZYX','frame');

Extract the pose of the platform.

p = pose(plat)

p = struct with fields:
        Orientation: [1x1 quaternion]
           Position: [1 1 0]
           Velocity: [0 0 0]
       Acceleration: [0 0 0]
    AngularVelocity: [0 0 0]

Input Arguments

plat — Scenario platform

Platform object

Scenario platform, specified as a Platform object. To create platforms, use the platform function.

type — Source of platform pose information

'estimated' (default) | 'true'

Source of the platform pose information, specified as one of these values:

• 'estimated' — Estimate poses using the pose estimator specified in the PoseEstimator property of the radar scenario.

• 'true' — Return the true pose of the platform.

Data Types: char

coordinateSystem — Coordinate system to report pose

'Cartesian' (default) | 'Geodetic'

Coordinate system to report pose, specified as one of these values:

• 'Cartesian' — Report poses using Cartesian coordinates in the Earth-Centered-Earth-Fixed coordinate frame.

• 'Geodetic' — Report poses using geodetic coordinates (latitude, longitude, and altitude). Report orientation, velocity, and acceleration in the local reference frame (North-East-Down by default) corresponding to the current waypoint.

Specify this argument only when the IsEarthCentered property of the radar scenario is set to true.

Output Arguments

p — Pose of platform

structure

Pose of the platform, returned as a structure. Pose consists of the position, velocity, orientation, and angular velocity of the platform with respect to the radar scenario coordinates. The structure has these fields.

Field	Description
PlatformID	Unique identifier for the platform, specified as a positive integer. This is a required field with no default value.
ClassID	User-defined integer used to classify the type of target, specified as a nonnegative integer. Zero is reserved for unclassified platform types and is the default value.
Position	Position of target in scenario coordinates, specified as a real-valued 1-by-3 row vector. If the coordinateSystem argument is specified as 'Cartesian', then Position is a three-element vector of Cartesian position coordinates in meters. If the coordinateSystem argument is specified as 'Geodetic', then Position is a three-element vector of geodetic coordinates: latitude in degrees, longitude in degrees, and altitude in meters.
Velocity	Velocity of platform in scenario coordinates, specified as a real-valued 1-by-3 row vector. Units are meters per second. The default value is [0 0 0].
Acceleration	Acceleration of the platform in scenario coordinates, specified as a 1-by-3 row vector in meters per second squared. The default value is [0 0 0].
Orientation	Orientation of the platform with respect to the local scenario navigation frame, specified as a scalar quaternion or a 3-by-3 rotation matrix. Orientation defines the frame rotation from the local navigation coordinate system to the current platform body coordinate system. Units are dimensionless. The default value is quaternion(1,0,0,0).
AngularVelocity	Angular velocity of the platform in scenario coordinates, specified as a real-valued 1-by-3 vector. The magnitude of the vector defines the angular speed. The direction defines the axis of clockwise rotation. Units are degrees per second. The default value is [0 0 0].

Version History

Introduced in R2021a