updateMesh

Update body mesh for UAV platform

Syntax

updateMesh(platform,type,geometries,color,position,orientation)

updateMesh(platform,type,geometries,color,offset)

Description

updateMesh(platform,type,geometries,color,position,orientation) updates the body mesh of the UAV platform with the specified mesh type, geometry, color, position, and orientation.

updateMesh(platform,type,geometries,color,offset) specifies the relative mesh frame position and orientation as a homogeneous transformation matrix offset.

Input Arguments

platform — UAV platform

uavPlatform object

UAV platform in a scenario, specified as a uavPlatform object.

type — Type of mesh

"fixedwing" | "quadrotor" | "cuboid" | "custom"

Type of mesh, specified as "fixedwing", "quadrotor", "cuboid", or "custom".

Data Types: string | char

geometries — Geometric parameters of mesh

cell array

Geometric parameters of the mesh, specified as a cell array with options that depend on the type input:

input Type	Geometry Parameters	Description
"fixedwing"	{scale}	Positive scalar specifying the relative size of the fixed-wing mesh. Scale is unitless.
"quadrotor"	{scale}	Positive scalar specifying the relative size of the multirotor mesh. Scale is unitless.
"cuboid"	{[x y height]}	Three-element vector of the xy-position and height of the cuboid, specified in meters.
"custom"	{vertices faces}	Vertices and faces that define the mesh as two three-element vectors. Each vertex is a row of [x y z] points in meters. Each face is a row of [a b c] indices of vertex IDs, where a vertex ID is the row number of a vertex in vertices.

color — UAV platform body mesh color

RGB triplet

UAV platform body mesh color, specified as an RGB triplet.

Data Types: double

position — Relative mesh position

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

Relative mesh position in the body frame, specified as a vector of the form [x y z].

Data Types: double

orientation — Relative mesh orientation

[1 0 0 0] (default) | quaternion vector of the form [w x y z] | quaternion object

Relative mesh orientation, specified as a quaternion vector of the form [w x y z] or a quaternion object.

Data Types: double

offset — Transformation of mesh relative to body frame

4-by-4 homogeneous transformation matrix

Transform of mesh relative to the body frame, specified as a 4-by-4 homogeneous transformation matrix. The matrix maps points in the platform mesh frame to points in the body frame.

Data Types: double

Version History

Introduced in R2020b