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Scenario To Platform

Transform platform poses from scenario frame to platform body frame

  • Library:
  • Sensor Fusion and Tracking Toolbox / Tracking Scenario and Sensor Models

  • Scenario To Platform block

Description

The Scenario To Platform block transforms platform poses expressed in the scenario frame to platform poses expressed in a platform body frame.

Ports

Input

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Platform poses expressed in the scenario frame, specified as a Simulink bus containing a MATLAB structure. For more details about buses, see Create Nonvirtual Buses (Simulink). The structure has these fields.

FieldDescription
NumPlatformsNumber of platforms, specified as a nonnegative integer.
PlatformsPlatform poses in the scenario frame, specified as an array of platform pose structures. The block reads only as many platform poses as the number of platforms specified in NumPlatforms.

The fields of each platform pose structure are:

FieldDescription
PlatformID

Unique identifier for the platform, specified as a positive integer.

ClassID

User-defined integer used to classify the type of target, specified as a nonnegative integer. 0 is reserved for unclassified platform types and is the default value.

Position

Position of the platform in the scenario frame, specified as a real-valued 1-by-3 vector. Units are in meters.

Velocity

Velocity of the platform in the scenario frame, specified as a real-valued 1-by-3 vector. Units are in meters per second.

Acceleration

Acceleration of the platform in the scenario frame, specified as a real-valued 1-by-3 vector. Units are in meters per second-squared.

Orientation

Orientation of the platform with respect to the scenario frame, specified as a 3-by-3 rotation matrix. Orientation defines the frame rotation from the scenario frame to the platform body frame.

AngularVelocity

Angular velocity of the platform in the scenario frame, specified as a real-valued 1-by-3 vector. The magnitude of the vector defines the angular speed. Units are in degrees per second.

Instead of specifying target platform poses directly, you can use the Tracking Scenario Reader block to generate platform poses expressed in the scenario frame.

Reference platform pose expressed in the scenario frame, specified as a Simulink bus containing a MATLAB structure. For more details about buses, see Create Nonvirtual Buses (Simulink). The structure has these fields:

FieldDescription
PlatformID

Unique identifier for the platform, specified as a positive integer. The specified PlatformID must be exactly the same as the value specified in the Reference platform index parameter.

ClassID

User-defined integer used to classify the type of target, specified as a nonnegative integer. 0 is reserved for unclassified platform types and is the default value.

Position

Position of the platform in the scenario frame, specified as a real-valued, 1-by-3 vector. Units are in meters. This is a required field with no default value.

Velocity

Velocity of the platform in the scenario frame, specified as a real-valued, 1-by-3 vector. Units are in meters per second. This is a required field with no default value.

Acceleration

Acceleration of the platform in the scenario frame, specified as a 1-by-3 vector. Units are in meters per second-squared. This is a required field with no default value.

Orientation

Orientation of the platform with respect to the scenario frame, specified as a 3-by-3 rotation matrix. Orientation defines the frame rotation from the scenario frame to the platform body frame. This is a required field with no default value.

AngularVelocity

Angular velocity of the platform in the scenario frame, specified as a real-valued, 1-by-3 vector. The magnitude of the vector defines the angular speed. Units are in degrees per second. This is a required field with no default value.

Dependencies

To enable this port, select the Enable reference platform pose input check box.

Output

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Target platform poses expressed in the body frame of the reference platform, specified as a Simulink bus containing a MATLAB structure. For more details about buses, see Create Nonvirtual Buses (Simulink). The reference platform is the platform whose PlatformID is specified in the Reference platform index parameter. The structure has these fields.

FieldDescription
NumPlatformsNumber of platforms, specified as a nonnegative integer.
PlatformsPlatform poses, specified as an array of platform pose structures. The block reads only as many platform poses as the number of platforms specified in NumPlatforms.

Each platform pose structure contains these fields.

FieldDescription
PlatformID

Unique identifier for the target platform, returned as a positive integer.

ClassID

User-defined integer used to classify the type of target platform, returned as a nonnegative integer. 0 is reserved for unclassified platform types.

Position

Position of the target platform in the reference platform body frame, returned as a real-valued 1-by-3 vector. Units are in meters.

Velocity

Velocity of the target platform in the reference platform body frame, returned as a real-valued 1-by-3 vector. Units are in meters per second. The default is [0 0 0].

Acceleration

Acceleration of the target platform in the reference platform body frame, returned as a real-valued 1-by-3 vector. Units are in meters per second-squared. The default is [0 0 0].

Orientation

Orientation of the target platform with respect to reference platform body frame, returned as a 3-by-3 rotation matrix. Orientation defines the frame rotation from the reference platform body frame to the target platform body frame.

AngularVelocity

Angular velocity of the target platform in the reference platform body frame, specified as a real-valued 1-by-3 vector. The magnitude of the vector defines the angular speed. Units are in degrees per second.

You can use this output as the input to the Fusion Radar Sensor block.

Parameters

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Reference platform index, specified as a positive integer. You must specify the platform pose corresponding to this index through the Platforms (Scenario Frame) input port, or through the Reference Platform Pose (Scenario Frame) input port.

Example: 1

Select this checkbox to enable the Reference Platform Pose (Scenario Frame) input port.

Source of the output bus name, specified as one of these options:

  • Auto — The block automatically creates a bus name.

  • Property — Specify the bus name by using the Specify an output bus name parameter.

Output port bus name, specified as a valid bus name.

Dependencies

To enable this parameter, set the Source of output bus name parameter to Property.

Select the type of simulation to run as:

  • Interpreted execution — Simulate the model using the MATLAB interpreter. This option shortens startup time. In Interpreted execution mode, you can debug the source code of the block.

  • Code generation — Simulate the 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.

Extended Capabilities

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

Version History

Introduced in R2022b