Get transform between body frames
Robotics System Toolbox / Manipulator Algorithms
The Get Transform block returns the homogeneous transformation between
body frames on the Rigid body tree robot model. Specify a
RigidBodyTree object for the robot model, and select a source and target
body in the block.
The block uses Config, the robot configuration (joint positions) input, to calculate the transformation from the source body to the target body. This transformation is used to convert coordinates from the source to the target body. To convert to base coordinates, use the base body name as the Target body parameter.
Config— Robot configuration
Transform— Homogeneous transform
Homogeneous transform, returned as a 4-by-4 matrix.
Rigid body tree— Robot model
Target body— Target body name
Target body name, specified as a body name from the robot model specified in Rigid body tree. To access body names from the robot model, click Select body. The target frame is the coordinate system you want to transform points into.
Source body— Source body name
Source body name, specified as a body name from the robot model specified in Rigid body tree.To access body names from the robot model, click Select body. The source frame is the coordinate system you want points transformed from.
Simulate using— Type of simulation to run
Interpreted execution(default) |
Interpreted execution — Simulate
model using the MATLAB® interpreter. This option shortens startup time but has
a slower simulation speed than
generation. In this mode, you can debug the source
code of the block.
Code generation — Simulate model
using generated C code. The first time you run a simulation,
Simulink® generates C code for the block. The C code is reused
for subsequent simulations, as long as the model does not change.
This option requires additional startup time, but the speed of the
subsequent simulations is comparable to