platformPoses

Position information for each platform in radar scenario

Since R2021a

Syntax

poses = platformPoses(scenario)

poses = platformPoses(scenario,format)

poses = platformPoses(___,'CoordinateSystem',coordinateSystem)

Description

poses = platformPoses(scenario) returns the current poses for all platforms in the radar scenario, scenario. Pose is the position, velocity, and orientation of a platform relative to scenario coordinates.

poses = platformPoses(scenario,format) also specifies the format of the returned platform orientation as 'quaternion' or 'rotmat'.

poses = platformPoses(___,'CoordinateSystem',coordinateSystem) specifies the coordinate system of the poses output argument. You can use this syntax only when the IsEarthCentered property of the radar scenario is set to true.

Examples

Get Pose of Platforms in Radar Scenario

Create a radar scenario.

rs = radarScenario;

Add a platform to the scenario.

plat = platform(rs);
plat.Trajectory.Position = [1 1 0];
plat.Trajectory.Orientation = quaternion([90 0 0],'eulerd','ZYX','frame');

Extract the pose of the platform from the radar scenario.

poses = platformPoses(rs)

poses = struct with fields:
         PlatformID: 1
            ClassID: 0
           Position: [1 1 0]
           Velocity: [0 0 0]
       Acceleration: [0 0 0]
        Orientation: [1x1 quaternion]
    AngularVelocity: [0 0 0]

Get Platform Orientation in Matrix Format

Create a radar scenario.

rs = radarScenario;

Add a platform to the scenario.

plat = platform(rs);
plat.Trajectory.Position = [1 1 0];
plat.Trajectory.Orientation = quaternion([90 0 0],'eulerd','ZYX','frame');

Extract the pose orientation in matrix format.

poses = platformPoses(rs,'rotmat');
poses.Orientation

ans = 3×3

    0.0000    1.0000         0
   -1.0000    0.0000         0
         0         0    1.0000

Input Arguments

scenario — Radar scenario

radarScenario object

Radar scenario, specified as a radarScenario object.

format — Pose orientation format

'quaternion' (default) | 'rotmat'

Pose orientation format, specified as 'quaternion' or 'rotmat'. When specified as 'quaternion', the Orientation field of the platform pose structure is a quaternion. When specified as 'rotmat', the Orientation field is a rotation matrix.

Data Types: char | string

coordinateSystem — Coordinate system

'Cartesian' (default) | 'Geodetic'

Coordinate system in which the function reports poses, specified as one of these values:

• 'Cartesian' — Report poses using Cartesian coordinates in the Earth-Centered-Earth-Fixed coordinate frame.

• 'Geodetic' — Report positions using geodetic coordinates (latitude, longitude, and altitude). Report orientation, velocity, and acceleration in the local reference frame of each platform (North-East-Down by default) corresponding to the current waypoint.

Specify this argument only when the IsEarthCentered property of the radar scenario, scenario, is set to true.

Data Types: char | string

Output Arguments

poses — Platform poses in scenario coordinates

structure | array of structures

Poses of all platforms in the radar scenario, returned as a structure or an array of structures. Each structure contains these fields.

Field	Description
PlatformID	Unique identifier for the platform, specified as a positive integer. This is a required field with no default value.
ClassID	User-defined integer used to classify the type of target, specified as a nonnegative integer. Zero is reserved for unclassified platform types and is the default value.
Position	Position of target in scenario coordinates, specified as a real-valued 1-by-3 row vector. If the coordinateSystem argument is specified as 'Cartesian', then Position is a three-element vector of Cartesian position coordinates in meters. If the coordinateSystem argument is specified as 'Geodetic', then Position is a three-element vector of geodetic coordinates: latitude in degrees, longitude in degrees, and altitude in meters.
Velocity	Velocity of platform in scenario coordinates, specified as a real-valued 1-by-3 row vector. Units are meters per second. The default value is [0 0 0].
Acceleration	Acceleration of the platform in scenario coordinates, specified as a 1-by-3 row vector in meters per second squared. The default value is [0 0 0].
Orientation	Orientation of the platform with respect to the local scenario navigation frame, specified as a scalar quaternion or a 3-by-3 rotation matrix. Orientation defines the frame rotation from the local navigation coordinate system to the current platform body coordinate system. Units are dimensionless. The default value is quaternion(1,0,0,0).
AngularVelocity	Angular velocity of the platform in scenario coordinates, specified as a real-valued 1-by-3 vector. The magnitude of the vector defines the angular speed. The direction defines the axis of clockwise rotation. Units are degrees per second. The default value is [0 0 0].

Data Types: struct

Version History

Introduced in R2021a