addInertialFrame

Define new inertial frame in UAV scenario

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    Syntax

    addInertialFrame(scene,base,name,position,orientation)
    addInertialFrame(scene,base,name,transformMatrix)

    Description

    addInertialFrame(scene,base,name,position,orientation) adds a new inertial frame to the UAV scenario scene by specifying the base, name, position, and orientation of the new inertial frame.

    example

    addInertialFrame(scene,base,name,transformMatrix) adds a new inertial frame to the UAV scenario scene by specifying the base, name, and transformation matrix of the new inertial frame.

    Examples

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    Open Live Script

    Create a UAV scenario. By default, the inertial frames are the ENU and the NED frames.

    scene = uavScenario()
    scene = 
  uavScenario with properties:

           UpdateRate: 10
             StopTime: Inf
    HistoryBufferSize: 100
    ReferenceLocation: [0 0 0]
         MaxNumFrames: 10
          CurrentTime: 0
            IsRunning: 0
        TransformTree: [1×1 transformTree]
       InertialFrames: ["ENU"    "NED"]
               Meshes: {}
            Platforms: [0×0 uavPlatform]

    Add a new inertial frame named Map to the scenario.

    addInertialFrame(scene,"NED","Map",[100 100 100],[1 0 0 0]);

    You can now use the Map frame as a reference frame to define other objects in the scenario.

    scene.InertialFrames(3)
    ans = 
"Map"

    Input Arguments

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    UAV scenario, specified as a uavScenario object.

    Base of the new inertial frame, specified as a string scalar. The base frame must be defined in the scenario in advance.

    Example: "ENU"

    Name of the new inertial frame, specified as a string scalar.

    Example: "newFrame"

    Position of the new inertial frame with respect to the base frame (specified in the base argument), specified as a 1-by-3 vector of scalars in meters.

    Orientation of the new inertial frame with respect to the base frame (specified in the base argument), specified as a quaternion or a 1-by-4 quaternion vector of scalars. The specified orientation is from the base frame to the new inertial frame.

    Transformation matrix that maps points in the new frame (specified in the base argument) to the base frame, specified as a 4-by-4 homogeneous transform matrix that maps points in the base frame to the new inertial frame.

    Example: [0 0 1 0; 0 1 0 0; -1 0 0 0; 0 0 0 1]

    Version History

    Introduced in R2020b