updateTransform

Update frame transform relative to its parent

Since R2020b

Syntax

updateTransform(frames,parentframe,childframe,position,orientation,timestamp)

updateTransform(frames,parentframe,childframe,tform,timestamp)

Description

updateTransform(frames,parentframe,childframe,position,orientation,timestamp) updates the relative transforms between child frames and their parents with a given position and orientation at the specified time stamps. The position and orientation are given in the parent reference frame.

updateTransform(frames,parentframe,childframe,tform,timestamp) updates the relative transforms between child frames and their parents with a given homogenous transform, tform.

Input Arguments

frames — Transform tree defining the child-parent frame relationship at given timestamps

transformTree object

Transform tree defining the child-parent frame relationship at given timestamps, specified as a transformTree object.

parentframe — Parent frame names

string scalar | character vector

Parent frame name specified as a string scalar or character vector.

Data Types: char | string

childframe — Child frame names

string scalar | character vector

Child frame name specified as a string scalar or character vector.

Data Types: char | string

position — Relative position of child frame to parent

N-by-3 matrix

Relative position of child frame to parent, specified as a N-by-3 matrix. N corresponds to the number of time stamps defined by timeStamp. Each row of the matrix corresponds to the x-, y-, and z- positions of the child frame in each time stamp.

orientation — Relative orientation of child frame to parent

N-by-4 matrix | N-by-1 quaternion array

Relative orientation of child frame to parent, specified as a N-by-4 matrix or N-by-1 quaternion array. N corresponds to the number of time stamps defined by timeStamp. Each row of the matrix represents the quaternion of rotation of the child frame in each time stamp.

tform — Relative transform of child frame to parent

4-by-4-by-N homogenous transformation matrix

Relative transform of child frame to parent, specified as a 4-by-4-by-N homogenous transformation matrix. N corresponds to the number of time stamps defined by timeStamp. Each 4-by-4 matrix corresponds to the relative transform of child frame to parent in each time stamp

timestamp — Time for querying the frames

scalar in seconds | vector

Time for specifying the timestamps corresponding to the transformations, specified as a scalar or vector of scalars in seconds.

Version History

Introduced in R2020b