tracking.scenario.airplaneMesh
Description
returns
an mesh
= tracking.scenario.airplaneMeshextendedObjectMesh
object
defining an airplane mesh that can be used with the trackingScenario
object.
Examples
Create and Visualize Airplane Mesh
Create the airplane mesh.
mesh = tracking.scenario.airplaneMesh;
Visualize the mesh.
ax = axes('ZDir','reverse'); show(mesh,ax); view(30,50);
Simulate Lidar Detection with Airplane Mesh
Create a tracking scenario object and an airplane mesh object.
scene = trackingScenario; mesh = tracking.scenario.airplaneMesh;
Create two tower platforms.
% Create the first tower. tower = platform(scene); h = 50; tower.Trajectory.Position = [0 0 -h]; tower.Dimensions = struct('Length',10,'Width',10,'Height',h,'OriginOffset',[0 0 -h/2]); tower.Sensors = monostaticLidarSensor('SensorIndex',1,... 'MaxRange',200,... 'HasINS',true,... 'DetectionCoordinates','scenario',... 'AzimuthLimits',[-75 75],... 'ElevationLimits',[-10 30]); % Create the second tower. tower2 = platform(scene); h = 50; tower2.Trajectory.Position = [0 500 -h]; tower2.Dimensions = struct('Length',10,'Width',10,'Height',h,'OriginOffset',[0 0 -h/2]); tower2.Sensors = monostaticLidarSensor('SensorIndex',2,... 'MaxRange',200,... 'HasINS',true,... 'DetectionCoordinates','scenario',... 'AzimuthLimits',[-75 75],... 'ElevationLimits',[-10 30]);
Create the airplane target with associated mesh.
airplane = platform(scene); airplane.Mesh = mesh; % Set the dimensions of the plane which automatically adjust the size of the mesh. airplane.Dimensions = struct('Length',40,... 'Width',40,... 'Height',12.5,... 'OriginOffset',[0 0 12.5/2]);
Create a landing trajectory for the plane.
x = 50*ones(10,1); y = linspace(-500,1000,10)'; yToLand = max(0,-y); z = -1e4*(2.*(yToLand./50e3).^3 + 3*(yToLand./50e3).^2); wps = [x y z]; toa = linspace(0,30,10)'; traj = waypointTrajectory(wps,toa); airplane.Trajectory = traj;
Create a plotter to visualize the scenario.
lp = scatter3(nan,nan,nan,6,nan,'o','DisplayName','Lidar data'); tp = theaterPlot('Parent',lp.Parent,... 'XLimits',[0 100],... 'YLimits',[-500 1000],... 'ZLimits',[-75 0]); lp.Parent.ZDir = 'reverse'; view(lp.Parent,169,5); pp = platformPlotter(tp,'DisplayName','Platforms','Marker','^'); cp = coveragePlotter(tp,'DisplayName','Lidar coverage'); hold on;
Advance the simulation, generate data, and visualize the results.
scene.UpdateRate = 0; % Automatic update rate while advance(scene) % Generate point cloud. ptCloud = lidarDetect(scene); % Obtain coverage configurations. cfgs = coverageConfig(scene); % Plot coverage. cp.plotCoverage(cfgs); % Plot platforms. platPoses = platformPoses(scene); pos = vertcat(platPoses.Position); mesh = cellfun(@(x)x.Mesh,scene.Platforms); orient = vertcat(platPoses.Orientation); pp.plotPlatform(pos,mesh,orient); % Concatenate all point clouds. s = vertcat(ptCloud{:}); % Plot lidar data. set(lp,'XData',s(:,1),... 'YData',s(:,2),... 'ZData',s(:,3),... 'CData',s(:,3)); drawnow; end
Output Arguments
mesh
— Airplane mesh
extendedObjectMesh
object
Airplane mesh, returned as an extendedObjectMesh
object
defining the mesh of an airplane.
Version History
Introduced in R2020b
See Also
MATLAB 명령
다음 MATLAB 명령에 해당하는 링크를 클릭했습니다.
명령을 실행하려면 MATLAB 명령 창에 입력하십시오. 웹 브라우저는 MATLAB 명령을 지원하지 않습니다.
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