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uav.SensorAdaptor.getMotion

Class: uav.SensorAdaptor
Package: uav

Get sensor motion in platform reference frame

Syntax

motion = getMotion(scenario,platform,sensor,t)

Description

motion = getMotion(scenario,platform,sensor,t) return the sensor motion in the platform reference frame for the given time t.

Input Arguments

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UAV scenario, specified as a uavScenario object. This scenario contains the uavPlatform object platform, which also contains the sensor object sensorObj, which is a subclass of uav.SensorAdaptor.

UAV scenario, specified as a uavPlatform object. This platform contains the sensor object sensorObj, which is a subclass of uav.SensorAdaptor.

UAV sensor to add to a platform in a scenario, specified as a uavSensor object.

Simulation time, specified as a positive scalar.

Output Arguments

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UAV platform motion at the current instance in a UAV scenario, returned as a 16-element vector with these elements in this order:

  • [x y z] — Positions in the xyz-axes in meters

  • [vx vy vz] — Velocities in the xyz-directions in meters per second

  • [ax ay az] — Accelerations in the xyz-directions in meters per second

  • [qw qx qy qz] — Quaternion vector for orientation

  • [wx wy wz] — Angular velocities in radians per second

Data Types: double

Introduced in R2021a