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setup

Prepare robot scenario for simulation

Since R2022a

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    Syntax

    setup(scenario)

    Description

    setup(scenario) prepares the robot scenario for simulation, sets poses of the platforms to their initial values, and generates initial sensor readings.

    example

    Examples

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    Open Live Script

    Create a robot scenario.

    scenario = robotScenario(UpdateRate=100,StopTime=1);

    Add the ground plane and a cylinder as meshes.

    addMesh(scenario,"Plane",Size=[30 30],Color=[0.7 0.7 0.7])
addMesh(scenario,"Cylinder",Position=[-2 4 0.5],Color=[0 1 1])

    Create a robot platform with a specified waypoint trajectory in the scenario. Define the mesh for the robot platform.

    traj = waypointTrajectory("Waypoints",[0 -10 0; 10 0 0; -10 10 0; 0 -10 0], ...
                          "TimeOfArrival",[0 0.33 0.66 1], ...
                          "ReferenceFrame","ENU");
platform = robotPlatform("Robot",scenario, ...
                         BaseTrajectory=traj);
updateMesh(platform,"GroundVehicle",Scale=3);

    Simulate and visualize the scenario.

    setup(scenario); 
idx = 1;
while advance(scenario)
    motion(idx,:) = read(platform);
    show3D(scenario); 
    drawnow update
    idx = idx+1;
end

    Figure contains an axes object. The axes object with xlabel East (m), ylabel North (m) contains 3 objects of type patch.

    restart(scenario);

    Input Arguments

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    Robot scenario, specified as a robotScenario object.

    Version History

    Introduced in R2022a

    See Also

    Objects

    Functions