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Corner measurements of constant turn-rate rectangular target


zCorners = ctrectcorners(states) returns the positions of the corners for constant turn-rate rectangular targets in a rectangular frame.


zCorners = ctrectcorners(states,sensorParameters) specifies the parameters of the sensor that measures the corners of rectangular targets.


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Define sensor reference frame by specifying the sensorParameters input.

sensorPosition = [-5;10;0];
sensorOrientation = rotmat(quaternion([30 0 0],'eulerd','ZYX','frame'),'frame');
sensorParams = struct('Frame','Rectangular', ...

Define the constant turn-rate state for the rectangle target.

state = [10;5;1.6;30;0.5;4.7;1.8];

Compute corner positions in sensor reference frame.

corners = ctrectcorners(state,sensorParams);

Set up visualization environment using theaterPlot.

% Create a theater plot.
tp = theaterPlot;
% Plot the state using a track plotter.
statePlotter = trackPlotter(tp,'DisplayName','Target State');
% Plot the corners using a detection plotter.
cornerPlotter = detectionPlotter(tp,'DisplayName','Corners');

Compute inputs and plot.

targetPos = [state(1) state(2) 0];
targetOrientation = rotmat(quaternion([state(4) 0 0],'eulerd','ZYX','frame'),'frame');
targetDims = struct('Length',state(6),...
    'OriginOffset',[0 0 0]);

cornerPosGlobal = sensorOrientation*corners(:,:) + sensorPosition;

Input Arguments

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Current rectangular target states, specified as a 7-by-N real-valued matrix, where N is the number of states. The seven dimensional rectangular state is defined as [x; y; s; θ; ω; L; W]. The meaning of these variables and their units are:

VariableMeaning Unit

Position of the rectangle center in x direction


Position of the rectangle center in y direction


Speed in the heading direction


Orientation angle of the rectangle with respect to x direction




Length of the rectangle


Width of the rectangle


Rectangular Target State

Example: [1;2;2;30;1;4.7;1.8]

Data Types: single | double

Parameters for the sensor transform function, returned as a structure or an array of structures. If you only need to transform the state once, specify it as a structure. If you need to transform the state n times, specify it as an n-by-1 array of structures. For example, to transform a state from the scenario frame to the sensor frame, you usually need to first transform the state from the scenario rectangular frame to the platform rectangular frame, and then transform the state from the platform rectangular frame to the sensor spherical frame.

The fields of the structure are:


Child coordinate frame type, specified as 'Rectangular' or 'Spherical'.


Child frame origin position expressed in the parent frame, specified as a 3-by-1 vector.


Child frame origin velocity expressed in the parent frame, specified as a 3-by-1 vector.


Relative orientation between frames, specified as a 3-by-3 rotation matrix. If the IsParentToChild property is set to false, then specify Orientation as the rotation from the child frame to the parent frame. If the IsParentToChild property is set to true, then specify Orientation as the rotation from the parent frame to the child frame.


Flag to indicate the direction of rotation between parent and child frame, specified as true or false. The default is false. See description of the Orientation field for details.


Indicates whether outputs contain azimuth components, specified as true or false.


Indicates whether outputs contain elevation components, specified as true or false.


Indicates whether outputs contain range components, specified as true or false.


Indicates whether outputs contain velocity components, specified as true or false.

Note that here the scenario frame is the parent frame of the platform frame, and the platform frame is the parent frame of the sensor frame.

When frame is 'Rectangular', HasVelocity determines if the measurement is returned in the form of [x; y; z; vx; vy; vz] or [x; y; z].

When frame is 'spherical', the returned measurements are in the order of [azimuth, elevation, range, range-rate]. The elements of the returned measurements are determined by:

  • HasAzimuth — Determines if output contains azimuth measurement.

  • HasElevation — Determines if output contains elevation measurement.

  • HasRange — Determines if output contains range measurement.

  • HasVelocity — Determines if output contains range-rate measurement on the condition that HasRange is 'true'. If HasRange is 'false', the returned measurement does not contain range-rate (even though HasVelocity is 'true').

Data Types: struct

Output Arguments

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States of corners, returned as a real-valued M-by-N-by-4 array. Each page (an M-by-N matrix) of the array corresponds to one corner for all the states given in the states input. N is the number of states. M is the dimension of output specified by the sensorParameters input. If unspecified, the default value of M is three, which corresponds to 3-D Cartesian position coordinates.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2018b