platformPoses

Positions, velocities, and orientations of all platforms in tracking scenario

Syntax

poses = platformPoses(sc)

poses = platformPoses(sc,fmt)

poses = platformPoses(___,'CoordinateSystem',coordinate)

Description

poses = platformPoses(sc) returns the current poses for all platforms in the tracking scenario, sc. Pose is the position, velocity, and orientation of a platform relative to scenario coordinates. Platforms are Platform objects.

poses = platformPoses(sc,fmt) also specifies the format, fmt, of the returned platform orientation.

poses = platformPoses(___,'CoordinateSystem',coordinate) specifies the coordinate system of the poses output. You can use this syntax only when the IsEarthCentered property of the tracking scenario,sc, is set to true.

Input Arguments

sc — Tracking scenario

trackingScenario object

Tracking scenario, specified as a trackingScenario object.

fmt — Pose orientation format

'quaternion' (default) | 'rotmat'

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.

Example: 'rotmat'

Data Types: char

coordinate — Coordinate system to report poses

'Cartesian' (default) | 'Geodetic'

Coordinate system to report poses, specified as:

• 'Cartesian' — Report poses using Cartesian coordinates in the Earth-Centered-Earth-Fixed coordinate frame.

• 'Geodetic' — Report positions using geodetic coordinates (latitude, longitude, and altitude). Report orientation, velocity, and acceleration in the local reference frame of each platform (North-East-Down by default) corresponding to the current waypoint.

.

You can only use this argument when the IsEarthCentered property of the tracking scenario,sc, is set to true.

Output Arguments

poses — Platform poses in scenario coordinates

structures | array of structures

Poses of all platforms in the tracking scenario, returned as a structure or array of structures. The pose structure contains these fields:

Field	Description
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. Zero is reserved for unclassified platform types and is the default value.
Position	Position of platform in scenario coordinates, specified as a real-valued 1-by-3 row vector. If the coordinateSystem argument is specified as 'Cartesian', the Position is the 3-element Cartesian position coordinates in meters. If the coordinateSystem argument is specified as 'Geodetic', the Position is the 3-element geodetic coordinates: latitude in degrees, longitude in degrees, and altitude in meters.
Velocity	Velocity of platform in scenario coordinates, specified as a real-valued 1-by-3 row vector. Units are meters per second. The default value is [0 0 0].
Acceleration	Acceleration of the platform in scenario coordinates, specified as a 1-by-3 row vector in meters per second squared. The default value is [0 0 0].
Orientation	Orientation of the platform with respect to the local scenario navigation frame, specified as a scalar quaternion or a 3-by-3 rotation matrix. Orientation defines the frame rotation from the local navigation coordinate system to the current platform body coordinate system. Units are dimensionless. The default value is quaternion(1,0,0,0) or a 3-by-3 identity matrix.
AngularVelocity	Angular velocity of the platform in scenario 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 degrees per second. The default value is [0 0 0].

Data Types: struct

Version History

Introduced in R2018b