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platformPoses

Position information for each platform in radar scenario

    Description

    example

    poses = platformPoses(scenario) returns the current poses for all platforms in the radar scenario, scenario. Pose is the position, velocity, and orientation of a platform relative to scenario coordinates.

    example

    poses = platformPoses(scenario,format) also specifies the format of the returned platform orientation as 'quaternion' or 'rotmat'.

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

    Examples

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    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 from the radar scenario.

    poses = platformPoses(rs)
    poses = struct with fields:
             PlatformID: 1
                ClassID: 0
               Position: [1 1 0]
               Velocity: [0 0 0]
           Acceleration: [0 0 0]
            Orientation: [1x1 quaternion]
        AngularVelocity: [0 0 0]
    
    

    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 orientation in matrix format.

    poses = platformPoses(rs,'rotmat');
    poses.Orientation
    ans = 3×3
    
        0.0000    1.0000         0
       -1.0000    0.0000         0
             0         0    1.0000
    
    

    Input Arguments

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    Radar scenario, specified as a radarScenario object.

    Pose orientation format, specified as 'quaternion' or 'rotmat'. When specified as 'quaternion', the Orientation field of the platform pose structure is a quaternion. When specified as 'rotmat', the Orientation field is a rotation matrix.

    Data Types: char | string

    Coordinate system in which the function reports poses, specified as one of these values:

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

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

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

    Data Types: char | string

    Output Arguments

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    Poses of all platforms in the radar scenario, returned as a structure or an array of structures. Each structure contains these fields.

    FieldDescription
    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].

    Data Types: struct

    Introduced in R2021a