targetMeshes

Target meshes as seen from platform

Syntax

tgtMeshes = targetMeshes(plat)

tgtMeshes = targetMeshes(plat,reportSelf)

tgtMeshes = targetMeshes(plat,reportSelf,format)

Description

tgtMeshes = targetMeshes(plat) returns the relative pose and meshes of all other platforms seem from the ego platform, plat.

tgtMeshes = targetMeshes(plat,reportSelf) allows you to choose whether report mesh information about the ego platform, plat. Specify reportSelf as true or false.

tgtMeshes = targetMeshes(plat,reportSelf,format) allows you to specify the format of orientation as quaternion or rotation matrix in the tgtMeshes output.

Examples

Obtain Mesh of Target

Create a tracking scenario. Create an ego platform and a target platform.

scenario = trackingScenario;

ego = platform(scenario,'Position',[1 1 1]);
target = platform(scenario,'Trajectory',kinematicTrajectory('Position',[10 -3 0],'Velocity',[5 0 0]));

Define the target's mesh and adjust its dimensions.

target.Mesh = extendedObjectMesh('sphere');
target.Dimensions.Length = 5; 
target.Dimensions.Width = 3;
target.Dimensions.Height = 2;

Get the mesh of the target viewed from the ego platform.

tgtmeshes = targetMeshes(ego);

Show the derived mesh of the target from the view of the ego platform.

show(tgtmeshes.Mesh);

Input Arguments

plat — Ego platform

Platform object

Ego platform, specified as a Platform object.

reportSelf — Enable reporting ego platform's mesh information

false (default) | true

Enable reporting ego platform's mesh information, specified as true or false.

format — Orientation output format

'quaternion (default) | 'rotmat'

Orientation output format, specified as 'quaternion or 'rotmat'. When specified as 'quaternion, the orientation is given by quaternion. When specified as 'rotmat', the orientation output is given by rotation matrix.

Output Arguments

tgtMeshes — Pose and meshes of target platforms

array of structure

Pose and meshes of target platforms relative to the ego platform plat, returned as an array of structures. Each structure contains these fields:

Field Name	Description
PlatformID	Unique identifier of the target, specified as a nonnegative integer.
ClassID	Unique identifier of the class of the target, specified as a nonnegative integer.
Position	Position of the target with respect to the sensor mounting platform's body frame, specified as a 3-element vector of scalars.
Orientation	Orientation of the target with respect to the sensor mounting platform's body frame, specified as a quaternion object or a rotation matrix.
Mesh	Geometric mesh of the target, specified as an extendedObjectMesh object with respect to the target's body frame.

Version History

Introduced in R2020b