restart

Reset simulation of robot scenario

Since R2022a

Syntax

restart(scenario)

Description

restart(scenario) resets the simulation of the robot scenario scene. The function resets poses of the platforms and sensor readings to NaN, resets the CurrentTime property of the scenario to 0, and resets the IsRunning property of the scenario to false.

Examples

Simulate Simple Robot Scenario

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

restart(scenario);

Input Arguments

scenario — Robot scenario

robotScenario object

Robot scenario, specified as a robotScenario object.

Version History

Introduced in R2022a