collisionCylinder

Create collision cylinder geometry

Description

Use collisionCylinder to create a cylinder collision geometry that is axis-aligned with the z-axis of its body-fixed frame and has the origin of the body-fixed frame at the center of the cylinder.

Creation

Syntax

CYL = collisionCylinder(Radius,Length)

CYL = collisionCylinder(___,Pose=pose)

Description

CYL = collisionCylinder(Radius,Length) creates a cylinder collision geometry with a specified Radius and Length. The cylinder is axis-aligned with its own body-fixed frame. The side of the cylinder lies along the z-axis. The origin of the body-fixed frame is at the center of the cylinder.

CYL = collisionCylinder(___,Pose=pose) sets the Pose property of the cylinder to pose, relative to the world frame.

Properties

Radius — Radius

positive scalar

Radius of cylinder, specified as a positive scalar. Units are in meters.

Data Types: double

Length — Length

positive scalar

Length of cylinder, specified as a positive scalar. Units are in meters.

Data Types: double

Pose — Pose

eye(4) (default) | real-valued 4-by-4 matrix | se3 object

Pose of the collision geometry relative to the world frame, specified as a 4-by-4 homogeneous matrix or an se3 object. You can change the pose after you create the collision geometry.

Note

Note that when the pose is specified as an se3 object, the Pose property stores the pose as a numeric 4-by-4 matrix.

Data Types: single | double

Object Functions

checkCollision	Check if two geometries are in collision
convertToCollisionMesh	Convert collision primitive geometry into collision mesh geometry
fitCollisionCapsule	Fit collision capsule around collision geometry
show	Show collision geometry

Examples

Create and Visualize Cylinder Collision Geometry

Create a cylinder collision geometry centered at the origin. The cylinder is 4 meters long with a radius of 1 meter.

rad = 1;
len = 4;
cyl = collisionCylinder(rad,len)

cyl = 
  collisionCylinder with properties:

    Radius: 1
    Length: 4
      Pose: [4x4 double]

Visualize the cylinder.

show(cyl)
title("Cylinder")

Create a homogeneous transformation that corresponds to a clockwise rotation of $$\pi /4$$ radians about the y-axis. Set the cylinder pose to the new matrix. Show the cylinder.

ang = pi/4;
mat = axang2tform([0 1 0 ang]);
cyl.Pose = mat;
show(cyl)

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2019b

R2023b: collisionCylinder supports specifying pose at construction

You can now specify the Pose property of collisionCylinder at object construction.

R2023a: Pose property supports se3 transformation object

You can now specify the Pose property of collisionCylinder as an se3 transformation object.