setup

Prepare robot scenario for simulation

Since R2022a

collapse all in page

    Syntax

    setup(scenario)

    Description

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

    example

    Examples

    collapse all

    Open Live Script

    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 with xlabel East (m), ylabel North (m) contains 3 objects of type patch.

    restart(scenario);

    Input Arguments

    collapse all

    Robot scenario, specified as a robotScenario object.

    Version History

    Introduced in R2022a

    See Also

    Objects

    Functions