UAV Scenario Get Transform

Get transforms from UAV scenario platforms

Since R2021b

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Libraries:
UAV Toolbox / UAV Scenario and Sensor Modeling

Description

This block outputs a 4-by-4 transformation matrix that maps points in source frame to target frame in a UAV Scenario.

To use this block, ensure that UAV Scenario Configuration block is in your model.

This block uses the sample time specified in the UAV Scenario Configuration block.

Examples

Simulate UAV Scenario Using Scenario Blocks

Use the UAV scenario blocks to simulate a scenario in Simulink®.

• Open Live Script

Limitations

The UAV Scenario blocks do not support:

• Code generation

• Model reference

• Multiple instances of the UAV Scenario Configuration block

• Rapid acceleration mode

In addition, the execution order is important when using these blocks in a closed loop simulation. The UAV Scenario Configuration block must execute first. The UAV Scenario Motion Write block must execute before the UAV Scenario Motion Read, UAV Scenario Lidar, and UAV Scenario Scope blocks.

Ports

Output

transform — Transformation matrix

4-by-4 matrix

Output transformation specified as a 4-by-4 transformation matrix.

Parameters

Source Frame — Source frame

'ENU' (default) | 'NED' | string from UAV Scenario

Use Select to choose a global coordinate source frame from the UAV Scenario loaded in your model. Select either North-East-Down ('NED'), or East-North-Up ('ENU').

Target Frame — Target frame

'NED' (default) | 'ENU' | string from UAV Scenario

Use Select to choose a global coordinate source frame from the UAV Scenario loaded in your model. Select either North-East-Down ('NED'), or East-North-Up ('ENU').

Version History

Introduced in R2021b