sim3d.sensors.Lidar
Description
Use the sim3d.sensors.Lidar
object to implement a lidar sensor in a 3D
environment. After you create a sim3d.sensors.Lidar
object, you can modify aspects
of the actor object by setting property values.
Creation
Description
creates a
default lidar
= sim3d.sensors.Lidar()sim3d.sensors.Lidar
object in the 3D environment.
specifies options using one or more optional name-value arguments. For example, to create
a lidar sensor with a range of 100 meters, set lidar
= sim3d.sensors.Lidar(Name=Value
)Range
to
100
.
Input 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: lidar =
sim3d.sensors.Lidar(ActorName='Lidar',Range=100)
ActorName
— Name of actor
autogenerated name (default) | character array | string
Name of actor, specified as a character array or string. If you do not specify an actor name,
then the software assigns the actor an autogenerated name. Use
this argument to set the name of the
sim3d.sensors.Lidar
object.
Note
If you specify the same name as an actor that already exists, then the software appends actor name you specify with a unique identifier.
Translation
— Relative translation
[0,0,0]
(default) | real 1-by-3 vector
Relative translation
(x,y,z) of the actor object to its
parent actor, specified as a real 1-by-3 vector, in m. Use Translation
to
change the position of the sim3d.sensors.Lidar
object in the 3D environment along the
X, Y, and Z axes of the
coordinate system. When you add an actor to the 3D environment, the default parent actor is the
Scene Origin
at (0,0,0)
.
Example: Translation=[1 2 1]
Rotation
— Relative rotation
[0,0,0]
(default) | real 1-by-3 vector
Relative rotation (roll,
pitch, yaw) of the actor object to its parent actor,
specified as a real 1-by-3 vector, in rad. Use Rotation
to rotate the
sim3d.sensors.Lidar
object in the 3D environment.
Example: Rotation=[pi/4 pi/8 pi/2]
Range
— Maximum distance measured by lidar sensor
120
(default) | positive scalar
Maximum distance measured by the lidar sensor, specified as a positive scalar less than or equal to 500
, in m. Points outside this range are ignored.
Example: Range=100
VerticalFieldOfView
— Vertical field of view
40
(default) | positive scalar
Vertical field of view of the lidar sensor, specified as a positive scalar less than or equal to 90
, in degrees.
Example: VerticalFieldOfView=60
VerticalAngularResolution
— Vertical angular resolution
1.25
(default) | positive scalar
Vertical angular resolution of the lidar sensor, specified as a positive scalar, in degrees.
Example: VerticalAngularResolution=1.5
HorizontalFieldOfView
— Horizontal field of view
360
(default) | positive scalar
Horizontal field of view of the lidar sensor, specified as a positive scalar, in degrees.
Example: HorizontalFieldOfView=120
HorizontalAngularResolution
— Horizontal angular (azimuth) resolution
0.16
(default) | positive scalar
Horizontal angular (azimuth) resolution of the lidar sensor, specified as a positive scalar, in degrees.
Example: HorizontalAngularResolution=0.2
RangeQuantizationFactor
— Resolution of lidar sensor range
0.002
(default) | positive real scalar
Resolution of the lidar sensor range, in m, specified as a
positive real scalar. The minimal value of this factor is
Drange / 224, where
Drange is the maximum distance measured by the
lidar sensor, as specified by Range
.
Example: RangeQuantizationFactor=0.001
Properties
Parent
— Parent of actor
handle to parent actor object
Parent of actor, specified as a handle to the parent actor
object. After you add an actor to the sim3d.World
object, the default parent
actor is the Scene Origin
at (0,0,0)
. Use
Parent
to set any actor in the 3D environment as the parent actor of a
sim3d.sensors.Lidar
object.
Children
— Children of actor
structure
This property is read-only.
Children of actor, specified as a structure. Each field of the structure contains a handle to
the child of a sim3d.sensors.Lidar
object.
ParentWorld
— Parent world
handle to parent world object
Parent world, specified as a handle to the parent sim3d.World
object. You can use this property only if the sim3d.sensors.Lidar
object is
added to the parent sim3d.World
object.
SensorIdentifier
— Unique ID of sensor
real positive scalar
This property is read-only.
Unique ID of the sensor, specified as a real positive scalar.
Data Types: uint32
Translation
— Relative translation
[0,0,0]
(default) | real 1-by-3 vector
Relative translation
(x,y,z) of the actor object to its
parent actor, specified as a real 1-by-3 vector, in m. Use Translation
to
change the position of the sim3d.sensors.Lidar
object in the 3D environment along the
X, Y, and Z axes of the
coordinate system. When you add an actor to the 3D environment, the default parent actor is the
Scene Origin
at (0,0,0)
.
Example: lidar.Translation = [1 2 1]
Rotation
— Relative rotation
[0,0,0]
(default) | real 1-by-3 vector
Relative rotation (roll,
pitch, yaw) of the actor object to its parent actor,
specified as a real 1-by-3 vector, in rad. Use Rotation
to rotate the
sim3d.sensors.Lidar
object in the 3D environment.
Example: lidar.Rotation = [pi/4 pi/8 pi/2]
Mobility
— Type of actor mobility
'sim3d.utils.MobilityTypes.Static'
(default) | 'sim3d.utils.MobilityTypes.Movable'
Type of actor mobility to respond to physics, move the actor
during simulation, or both, specified as 'sim3d.utils.MobilityTypes.Movable'
or 'sim3d.utils.MobilityTypes.Static'
.
Example: lidar.Mobility =
sim3d.utils.MobilityTypes.Movable
Data Types: sim3d.utils.MobilityTypes
Range
— Maximum distance measured by lidar sensor
120
(default) | positive scalar
Maximum distance measured by the lidar sensor, specified as a positive scalar less than or equal to 500
, in m. Points outside this range are ignored.
Example: lidar.Range = 100
VerticalFieldOfView
— Vertical field of view
40
(default) | positive scalar
Vertical field of view of the lidar sensor, specified as a positive scalar less than or equal to 90
, in degrees.
Example: lidar.VerticalFieldOfView = 60
VerticalAngularResolution
— Vertical angular resolution
1.25
(default) | positive scalar
Vertical angular resolution of the lidar sensor, specified as a positive scalar, in degrees.
Example: lidar.VerticalAngularResolution = 1.5
HorizontalFieldOfView
— Horizontal field of view
360
(default) | positive scalar
Horizontal field of view of the lidar sensor, specified as a positive scalar, in degrees.
Example: lidar.HorizontalFieldOfView = 120
HorizontalAngularResolution
— Horizontal angular (azimuth) resolution
0.16
(default) | positive scalar
Horizontal angular (azimuth) resolution of the lidar sensor, specified as a positive scalar, in degrees.
Example: lidar.HorizontalAngularResolution = 0.2
RangeQuantizationFactor
— Resolution of lidar sensor range
0.002
(default) | positive real scalar
Resolution of the lidar sensor range, in m, specified as a
positive real scalar. The minimal value of this factor is
Drange / 224, where
Drange is the maximum distance measured by the
lidar sensor, as specified by Range
.
Example: lidar.RangeQuantizationFactor = 0.001
Object Functions
read | Return target data using lidar |
Version History
Introduced in R2024b
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