# Grid Surface

Grid surface for contact modeling

**Library:**Simscape / Multibody / Curves and Surfaces

## Description

The Grid Surface block creates a Cartesian grid surface that you can use to model contact
problems. The grid surface has a similar format to the grid generated by the `ndgrid`

function in MATLAB^{®}. You can use the block to create a surface that represents a square,
rectangular, or non-uniform grid.

To model a grid surface, use the **X Grid Vector** and **Y Grid
Vector** parameters to specify the coordinates in the *x*
and *y* directions of the grid surface, then use the **Z
Heights** parameter to specify the elevations of the grid points in the
*z* direction. The image shows an illustration of a grid surface
whose **Z Heights** parameter is specified as ```
[0 0 0.5 0.5; 0
0 0.5 0.5; 0 0 0 0; 0 0 0 0]
```

. The columns of the matrix are along the
*x-*axis, and the rows of the matrix are along the
*y-*axis.

To create a grid surface using LiDAR data, you must convert the scattered data to gridded
data before using it in the Grid Surface block. To
convert the data, you can use a `scatteredInterpolant`

object to create an
interpolant function by using the *x*, *y*, and
*z* values of the LiDAR data, create *x* and
*y* grid vectors that represent the domain of the grid, then use
the grid vectors as the query points of the interpolant function to produce
*z* values of the grid surface. The produced *z*
values form a matrix in the `ndgrid`

format that can be used to
specify the **Z Heights** parameter. You can also use the `griddata`

function to produce *z* values for a grid
surface, but you need to transpose the output matrix to the `ndgrid`

format.

**Note**

Do not use the

`ndgrid`

function to create the*x*and*y*grid data for a grid surface. The`ndgrid`

function replicates the input grid vectors into a matrix. Using grid vectors instead of full matrices can save memory.To have the best simulation performance, the spacing in the

*x*and*y*grid vectors should be as large as possible but small enough to represent the surface with sufficient accuracy. To change the spacing of the grid vectors and compute the corresponding*z*values , you can use the`griddedInterpolant`

object or`interp2`

function.

Generally, you need to clean the LiDAR data before converting it to gridded data, such as
removing outliers or *NaN* values. To clean the data, use the `isnan`

and `isoutlier`

functions.

## Ports

### Frame

### Geometry

## Parameters

## Model Examples

## Extended Capabilities

## Version History

**Introduced in R2021b**

## See Also

Spatial Contact
Force | Point Cloud | `griddata`

| `isnan`

| `isoutlier`

| `scatteredInterpolant`

| `griddata`

| `griddedInterpolant`

| `interp2`