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parse

Generate trajectory in local NED frame

Since R2022b

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    Syntax

    traj = parse(parser,mission)
    traj = parse(parser,mission,refLocation)

    Description

    example

    traj = parse(parser,mission) generates a reference trajectory traj for a multirotor or fixed-wing UAV following the mission mission. The parse function generates the reference trajectory in a local north-east-down (NED) frame with its origin at the global coordinates specified by the HomeLocation property of mission.

    traj = parse(parser,mission,refLocation) generates the reference trajectory in a local NED frame with its origin defined by the global coordinates refLocation.

    Examples

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    Open Live Script

    Create a UAV mission by using the flight plan stored in a .plan file and show the mission.

    mission = uavMission(PlanFile="flight.plan");
show(mission);
axis equal

    Create parsers for a multirotor UAV and a fixed-wing UAV.

    mrmParser = multirotorMissionParser(TransitionRadius=2,TakeoffSpeed=2);
fwmParser = fixedwingMissionParser(TransitionRadius=15,TakeoffPitch=10);

    Generate one flight trajectory using each parser.

    mrmTraj = parse(mrmParser,mission);
fwmTraj = parse(fwmParser,mission);

    Visualize the waypoints, flight trajectory and body frames for each UAV.

    figure
show(mrmTraj,FrameSize=20,NumSamples=75);
title("Multirotor Flight Trajectory")
axis equal

    figure
show(fwmTraj,FrameSize=20,NumSamples=75);
title("Fixed-Wing Flight Trajectory")
axis equal

    Plot the mission, waypoints, flight trajectory and UAV body frames in the same plot for each UAV.

    figure
show(mission);
hold on
show(mrmTraj,FrameSize=20,NumSamples=75);
hold off
title("Mission Using Multirotor Trajectory")
axis equal

    show(mission);
hold on
show(fwmTraj,FrameSize=20,NumSamples=75);
hold off
title("Mission Using Fixed-Wing Trajectory")
axis equal

    Input Arguments

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    UAV mission parser, specified as a multirotorMissionParser object or a fixedwingMissionParser object.

    UAV mission, specified as a uavMission object.

    Reference location, specified as a three-element row vector of the form [latitude longitude altitude], representing global coordinates. latitude and longitude are in degrees. altitude is the height in meters above the WGS84 ellipsoid.

    Example: parse(parser,mission,[20 40.1 72])

    Output Arguments

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    Trajectory, returned as a multirotorFlightTrajectory object for multirotorMissionParser objects and fixedwingFlightTrajectory object for fixedwingMissionParser objects.

    Version History

    Introduced in R2022b

    See Also

    Objects