updatePose
Description
updates the poses of meshes in the truncated signed distance field (TSDF) and returns an
indication of which mesh poses were successfully updated. isUpdated
= updatePose(mTSDF
,poseStruct
)
Examples
Create two collision boxes and one collision sphere. The collision boxes represent a static environment and the sphere represents a dynamic obstacle with a pose that could change at any time.
box1 = collisionBox(0.5,1,0.1);
box2 = collisionBox(0.5,0.1,0.2,Pose=trvec2tform([0 -0.45 0.15]));
sph = collisionSphere(0.125,Pose=trvec2tform([-0.1 0.25 0.75]));
showCollisionArray({box1,box2,sph});
title("Static Environment and Dynamic Obstacle")
v = [110 10];
view(v);
Create a mesh TSDF manager with a resolution of 25 cells per meter.
tsdfs = meshtsdf(Resolution=25);
To improve the efficiency of signed distance field computation, combine meshes that represent the static environment.
staticMeshes = geom2struct({box1,box2}); staticEnv = staticMeshes(1); staticEnv.Pose = eye(4); staticEnv.Vertices = []; staticEnv.Faces = []; for i = 1:numel(staticMeshes) H = staticMeshes(i).Pose; V = staticMeshes(i).Vertices*H(1:3,1:3)'+ H(1:3,end)'; nVert = size(staticEnv.Vertices,1); staticEnv.Vertices = [staticEnv.Vertices; V]; staticEnv.Faces = [staticEnv.Faces; staticMeshes(i).Faces+nVert]; end staticEnv.ID = 1;
Add the static environment mesh to the TSDF manager.
addMesh(tsdfs,staticEnv);
Convert the sphere collision geometry into a structure for the mesh TSDF manager. Assign it an ID of 2 and add it to the mesh TSDF manager.
obstacleID = 2; dynamicObstacle = geom2struct(sph,obstacleID); addMesh(tsdfs,dynamicObstacle); show(tsdfs) view(v) axis equal title("Mesh TSDFs of Static Environment and Dynamic Obstacle")
Update the pose of the dynamic obstacle in the mesh TSDF manager by changing Pose
property of the object handle of the obstacle. Then use the updatePose
function to update the pose of the mesh in the TSDF manager.
dynamicObstacle.Pose = trvec2tform([0.2 0.25 0.2]); updatePose(tsdfs,dynamicObstacle)
ans = 1
show(tsdfs) view(v) axis equal title("Updated Dynamic Obstacle Pose")
Input Arguments
Truncated signed distance field for 3-D meshes, specified as a meshtsdf
object.
Example: meshtsdf(meshes,TruncationDistance=5)
creates a TSDF for the
specified meshes with a truncation distance of 5
meters.
Pose information for each mesh in the TSDF, returned as a structure or N-element array of structures. Each structure represents the pose information for each mesh in the TSDF, and contains these fields:
ID
— ID of the mesh in the TSDF.Pose
— Pose of the mesh as a 4-by-4 homogeneous transformation matrix.
Output Arguments
Indication of whether the pose of the mesh was updated or not, returned as logical
1
(true
) if the mesh was successfully updated or
0
(false
) if the ID
field
of the poseStruct
specifies the ID of a mesh that does not exist in
mTSDF
. If poseStruct
is an
N-element of structures, then isUpdated
is an
N-element vector of logical scalars corresponding to each of the
N pose structures in poseStruct
.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Version History
Introduced in R2024a
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