bodyframe

R2026b

Create body reference frame for actor

Since R2026b

Syntax

refframe = bodyframe(actr)

refframe = bodyframe(actr,Name=Value)

Description

Add-On Required: This feature requires the 3D Scenarios add-on.

refframe = bodyframe(actr) creates a body reference frame object for the specified actor. The origin of the coordinate system is at the centroid of the actor. The object uses the forward-right-down (FRD) axes convention.

refframe = bodyframe(actr,Name=Value) creates the reference frame using options specified by one or more name-value arguments.

Input Arguments

actr — Actor

Actor object

Actor, specified as an Actor object.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: bodyframe(actr,ReferencePoint="roof") creates a body reference frame with the origin at the roof of the actor.

ReferencePoint — Reference point

"centroid" (default) | string scalar | character vector

Reference point, specified as a string scalar or a character vector.

The supported reference points depend on the Asset object in the Asset property of actr. For more information, see the ReferencePoints property of the Asset object.

Name — Descriptive name

string scalar | character vector

Descriptive name, specified as a string scalar or character vector.

This argument sets the Name property of the reference frame object.

The default value is the name stored in the Name property of the Actor object, concatenated with " body frame".

Data Types: char | string

AxesConvention — Axes convention

"frd" (default) | "flu"

Axes convention, specified as one of these values:

• "frd" — Forward-right-down (FRD)

• "flu" — Forward-left-up (FLU)

This argument defines the order of the position, orientation, and motion vectors. For more information about axes conventions, see Specify Coordinate Conventions for 3D Scenarios.

This argument sets the AxesConvention property of the reference frame object.

Output Arguments

refframe — Body reference frame

ReferenceFrame object

Body reference frame, returned as a ReferenceFrame object.

For a body reference frame, the position, orientation, and motion vectors are referenced to Cartesian axes, where the origin is at the specified reference point for the actor.

This table describes the property values of the reference frame created by this function.

Property	Value
Name	The value stored in the Name property of the specified Actor object, concatenated with " body frame"
ReferenceBody	The specified Actor object
Datum	A structure array with this field and value: Origin — Origin, returned as "centroid"
CoordinateSystem	"cartesian"
AxesConvention	"frd"

Version History

Introduced in R2026b