addMesh

Add new static mesh to robot scenario

Since R2022a

Syntax

addMesh(scenario,type,Name=Value)

Description

addMesh(scenario,type,Name=Value) adds a static mesh to the robot scenario by specifying the mesh type and specifies additional options using name-value arguments.

Examples

Add Meshes to Robot Scenario

Create a robot Scenario.

scenario = robotScenario;

Add a plane, box, cylinder, and sphere mesh to the scenario.

addMesh(scenario,"Plane",Size=[15 15],Color=[0.7 0.7 0.7])
addMesh(scenario,"Box",Position=[-3 -3 0.5],Color=[1 0.5 0])
addMesh(scenario,"Cylinder",Position=[-2 4 0.5],Color=[0 0 1])
addMesh(scenario,"Sphere",Position=[2 7 1],Color=[0 1 0])

Add custom mesh to the scenario with vertices and faces.

vertices = [0 0 0; 0 0 2; 0 2 0; 0 2 2; 2 0 0; 2 0 2; 2 2 0; 2 2 2];
faces = [1 3 7; 1 7 5; 1 6 2; 1 5 6; 1 2 4; 1 4 3; ...
         3 4 8; 3 8 7; 5 8 6; 5 7 8; 2 8 4; 2 6 8];
addMesh(scenario,"Custom",Vertices=vertices,Faces=faces,Position=[4 -4 1])

Visualize the scenario.

show3D(scenario);

Input Arguments

scenario — Robot scenario

robotScenario object

Robot scenario, specified as a robotScenario object.

type — Type of mesh

"Box" | "Cylinder" | "Plane" | "Sphere" | "Custom"

Type of mesh, specified as "Box", "Cylinder", "Plane", "Sphere", or "Custom".

Data Types: char | string

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: addMesh(scenario,"Box",Position=[-3 -3 0.5])

Color — Mesh color

[1 0 0] (default) | RGB triplet

Mesh color, specified as a RGB triplet.

Data Types: single | double

ReferenceFrame — Reference frame of mesh geometry

"ENU" (default) | name of defined inertial frame

Reference frame of the geometry input, specified as an inertial frame name defined in the InertialFrames property of the robotScenario object. You can add new inertial frames to the scenario using the addInertialFrame object function.

The scenario only accepts frames that have z-axis rotation with respect to the "ENU" frame.

Data Types: char | string

IsBinaryOccupied — Occupied state of binary occupancy map

false (default) | true

Occupied state of binary occupancy map, specified as true or false. Set the value as true if static mesh is considered as an obstacle in the scenario and it is incorporated in the binary occupancy map.

Data Types: logical

Position — Position of static mesh in robot scenario

[0 0 0] (default) | vector of form [x y z]

Position of static mesh in robot scenario, specified as a vector of the form [x y z] in meters.

Data Types: single | double

Size — Size of static mesh

scalar | vector

Size of static mesh, specified as a scalar or vector of geometry parameters, except for the custom mesh. Depending on the type input, the geometry parameters have different forms:

type Input Argument	Geometry Parameters	Description
"Box"	[xlength ylength zlength]	Create a box with a specified side lengths in the x-, y-, and z-directions. Default: [1 1 1]
"Cylinder"	[radius length]	Create a cylinder with a specified radius and length. Default: [1 1]
"Plane"	[xlength ylength]	Create a plane with a specified side lengths in the x- and y-directions. Default: [1 1]
"Sphere"	radius	Create a sphere with a specified radius. Default: 1

Data Types: single | double

Faces — Faces of custom static mesh

N-by-3 matrix of positive integers

Faces of the custom static mesh, specified as an N-by-3 matrix of positive integers. The three elements in each row are the indices of the three points in the vertices forming a triangle face. N is the number of faces.

Data Types: single | double

Vertices — Vertices of custom static mesh

N-by-3 matrix of real scalars

Vertices of the custom static mesh, specified as an N-by-3 matrix of real scalars. The first, second, and third element of each row represents the x-, y-, and z-position of each vertex, respectively. N is the number of vertices.

Data Types: single | double

Collision — Collision object to add to scenario mesh

false (default) | "mesh" | "capsule" | collisionBox object | collisionCapsule object | collisionCylinder object | collisionMesh object | collisionSphere object

Collision object to add to the scenario mesh, specified as one of these values:

• false — Keeps the scenario mesh collision-object-free.

• "mesh" — Fits a collision object, such as collisionBox, collisionCylinder, collisionMesh, or collisionSphere, based on the scenario mesh type.

• "capsule" — Fits a collision capsule object to the scenario mesh.

• One of these externally created collision objects:

  • collisionBox

  • collisionCapsule

  • collisionCylinder

  • collisionMesh

  • collisionSphere

CollisionOffset — Transformation of collision mesh relative to scenario mesh

eye(4) (default) | 4-by-4 homogeneous transformation matrix

Transformation of the collision mesh relative to the scenario mesh, specified as a 4-by-4 homogeneous transformation matrix.

Data Types: single | double

Name — Identifier for scenario mesh

string scalar | character vector

Identifier for the scenario mesh, specified as a string scalar or character vector. The name must be unique within the scenario. If you do not specify this argument, the function assigns a unique name for the scenario mesh is assigned, by default.

Data Types: char | string

Version History

Introduced in R2022a