robotics.SensorAdaptor.getMotion
Class: robotics.SensorAdaptor
Namespace: robotics
Syntax
motion = getMotion(scenario,platform,sensor,time)
Description
return the sensor motion in the platform reference frame for the specified simulation
time.motion
= getMotion(scenario
,platform
,sensor
,time
)
Input Arguments
scenario
— Robot scenario
robotScenario
object
Robot scenario, specified as a robotScenario
object. This scenario contains the robotPlatform
object platform
, which also contains the
sensor object sensorObj
, which is a subclass of robotics.SensorAdaptor
.
platform
— Robot platform
robotPlatform
object
Robot platform, specified as a robotPlatform
object. This platform contains the sensor object
sensorObj
, which is a subclass of robotics.SensorAdaptor
.
sensor
— Robot sensor to add to platform in scenario
robotSensor
object
Robot sensor to add to a platform in a scenario, specified as a robotSensor
object.
time
— Simulation time
positive scalar
Simulation time, specified as a positive scalar in seconds.
Data Types: double
Output Arguments
motion
— Robot platform motion at current instance in scenario
16-element vector
Robot platform motion at the current instance in a robot scenario, returned as a 16-element vector with these elements in this order:
[x y z]
— Positions in the xyz-axes in meters[vx vy vz]
— Velocities in the xyz-directions in meters per second[ax ay az]
— Accelerations in the xyz-directions in meters per second squared[qw qx qy qz]
— Quaternion vector for orientation[wx wy wz]
— Angular velocities in radians per second
Data Types: double
Examples
Simulate Ultrasonic Sensors Mounted on Mobile Robots
This example focuses on creating and mounting an ultrasonic sensor on a mobile robot in a robotScenario
. The ultrasonicDetectionGenerator
from the Automated Driving Toolbox™ cannot be used directly with robotScenario
. We will be implementing a custom sensor adaptor for the ultrasonicDetectionGenerator
that makes it compatible with robotScenario
. The sensor will be used to position a mobile robot correctly at a charging station.
Create Custom Sensor Adaptor
Use the createCustomRobotSensorTemplate
function to generate a template sensor and update it to adapt an ultrasonicDetectionGenerator
object for usage in Robot scenario.
createCustomRobotSensorTemplate
This example provides the adaptor class CustomUltrasonicSensor
, which can be viewed using the following command.
edit CustomUltrasonicSensor.m
Use the Sensor Adaptor in Robot Scenario Simulation
Create a robotScenario
object with a sample rate of 10.
sampleRate = 10; scenario = robotScenario(UpdateRate=sampleRate);
Add a plane mesh to show the warehouse floor.
addMesh(scenario,"Plane",Position=[5 0 0],Size=[20 12],Color=[0.7 0.7 0.7]);
Create a waypointTrajectory
that traverses a set of waypoints to the charging station and use the lookupPose
method of the waypointTrajectory
object to fetch the pose of the robot along the trajectory.
startPosition = [-3 -3]; chargingPosition = [13 0]; wPts = [[startPosition 0.1]; ... 5 0 0.1; ... 10 0 0.1; ... 13.75 0 0.1]; %Charging station toa = [0 4 7 10]; traj = waypointTrajectory(Waypoints=wPts,... TimeOfArrival=toa, ReferenceFrame='ENU', ... SampleRate=sampleRate); [pos, orient, vel, acc, angvel] = traj.lookupPose(0:1/sampleRate:10);
Add a robotPlatform
to the scene for our mobile robot. Load the Clearpath Husky model for the rigidBodyTree
of the robotPlatform
. Also add cuboid meshes to denote obstacles in the scene. Add a 1-by-1 plane to denote where the charging station is.
robot = robotPlatform("rst", scenario,... RigidBodyTree=loadrobot("clearpathHusky"), ... InitialBasePosition=pos(1,:), InitialBaseOrientation=compact(orient(1))); addMesh(scenario,"Box",Position=[3 5 2],Size=[4 2 4],Color=[1 0.5 0.25],IsBinaryOccupied=true); addMesh(scenario,"Box",Position=[3 -5 2],Size=[4 2 4],Color=[1 0.5 0.25],IsBinaryOccupied=true); addMesh(scenario,"Box",Position=[7 5 2],Size=[4 2 4],Color=[1 0.5 0.25],IsBinaryOccupied=true); addMesh(scenario,"Box",Position=[7 -5 2],Size=[4 2 4],Color=[1 0.5 0.25],IsBinaryOccupied=true); addMesh(scenario,"Box",Position=[-3 -5 0.5],Size=[1 1 1],Color=[0.1 0.1 0.1]); % Plane to denote Charging station location addMesh(scenario,"Plane",Position=[13 0 .05],Size=[1 1],Color=[0 1 0]);
Create the charging station using a robotPlatform
object. The robotPlatform
allows us to fetch the transform between the object and the sensor for use in the custom sensor read method. Here, the charging station can be modeled using a cuboid. The robot has to reach within 5cm of the surface of the charging station to start charging.
chargeStation = robotPlatform("chargeStation", scenario,InitialBasePosition=[13.75 0 0]); chargeStation.updateMesh("Cuboid",Size=[0.5 1 1], Color=[0 0.8 0]);
The ultrasonic sensor model requires inputs of the profile of the obstacles to be detected. The profile structure includes information about the dimensions of the obstacle.
chargingStationProfile = struct("Length", 0.5, "Width", 1, "Height", 1, 'OriginOffset', [0 0 0]);
Create the ultrasonic sensor using the ultrasonicDetectionGenerator
object and set its mounting location to [0 0 0]
, detection range to [0.03 0.04 5]
and field of view to [70, 35]
. Also pass in the profile of the charging station that was created earlier.
ultraSonicSensorModel = ultrasonicDetectionGenerator(MountingLocation=[0 0 0], ... DetectionRange=[0.03 0.04 5], ... FieldOfView=[70, 35], ... Profiles=chargingStationProfile);
Create a robotSensor
object that uses the custom sensor adaptor CustomUltrasonicSensor
. The adaptor uses the ultrasonic sensor model created above. The mounting location will be at the front of the robot.
ult = robotSensor("UltraSonic", robot, ... CustomUltrasonicSensor(ultraSonicSensorModel), ... MountingLocation=[0.5 0 0.05]); figure(1); ax = show3D(scenario); view(-65,45) light grid on
In this scene, the mobile robot will follow the trajectory to the charging station. When the ultrasonic sensor comes within a range of 20cm of the charging station, then mobile robot advance at a slower rate of 1cm per frame towards the charging station. When the robot is within 5cm of the surface of the charging station, it stops and the charging starts. The simulation ends when the charging starts.
isCharging = false; i = 1; setup(scenario); while ~isCharging [isUpdated, t, det, isValid] = read(ult); figure(1); show3D(scenario); view(-65,45) light grid on % Read the motion vector of the robot from the platform ground truth % This motion vector will be used only for plotting graphic elements pose = robot.read(); rotAngle = quat2eul(pose(10:13)); hold on if ~isempty(det) % Distance to object distance = det{1}.Measurement; % Plot a red shpere where the ultrasonic sensor detects an object exampleHelperPlotDetectionPoint(scenario, ... det{1}.ObjectAttributes{1}.PointOnTarget, ... ult.Name, ... pose); displayText = ['Distance = ',num2str(distance)]; else distance = inf; displayText = 'No object detected!'; end % Plot a cone to represent the field of view and range of the ultrasonic sensor exampleHelperPlotFOVCylinder(pose, ultraSonicSensorModel.DetectionRange(3)); hold off if distance <= 0.2 % Advance in steps of 1cm when the robot is within 20cm of the charging station currentMotion = lastMotion; currentMotion(1) = currentMotion(1) + 0.01; move(robot,"base",currentMotion); lastMotion = currentMotion; displayText = ['Detected Charger! Distance = ',num2str(distance)]; if distance <= 0.05 % The robot is charging when it is within 5cm of the charging station displayText = ['Charging!! Distance = ',num2str(distance)]; isCharging = true; end else % Follow the waypointTrajectory to the vicinity of the charging station if i<=length(pos) motion = [pos(i,:), vel(i,:), acc(i,:), ... compact(orient(i)), angvel(i,:)]; move(robot,"base",motion); lastMotion = motion; i=i+1; end end % Display the distance to the charging station detected by the ultrasonic sensor t = text(15, 0, displayText, "BackgroundColor",'yellow'); t(1).Color = 'black'; t(1).FontSize = 10; advance(scenario); updateSensors(scenario); end
Version History
Introduced in R2022b
See Also
Functions
Objects
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