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targetPoses

Target positions and orientations as seen from platform

Description

poses = targetPoses(plat) returns the poses of all targets in a scenario with respect to the observing platform, plat. Targets are defined as platforms as seen by plat. Pose represents the position, velocity, and orientation of a target with respect to the coordinate system of plat. The targets must already exist in the radar scenario. Add targets to a scenario using the platform function.

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

Input Arguments

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Observing platform, specified as a Platform object. To create platforms, use the platform function.

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

Output Arguments

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Poses for all targets, returned as a structure or an array of structures. The pose of the observing platform, plat, is not included. Pose consists of the position, velocity, orientation, and signature of a target in platform coordinates. Each structure has these fields.

FieldDescription
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. 0 is reserved for unclassified platform types and is the default value.

Position

Position of the target in platform coordinates, specified as a real-valued, 1-by-3 vector. This is a required field with no default value. Units are in meters.

Velocity

Velocity of the target in platform coordinates, specified as a real-valued, 1-by-3 vector. Units are in meters per second. The default is [0 0 0].

Acceleration

Acceleration of the target in platform coordinates specified as a 1-by-3 row vector. Units are in meters per second-squared. The default is [0 0 0].

Orientation

Orientation of the target with respect to platform coordinates, specified as a scalar quaternion or a 3-by-3 rotation matrix. Orientation defines the frame rotation from the platform coordinate system to the current target body coordinate system. Units are dimensionless. The default is quaternion(1,0,0,0).

AngularVelocity

Angular velocity of the target in platform 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 in degrees per second. The default is [0 0 0].

Introduced in R2021a