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Geometric properties of obstacles


[obstacleIDs,geomStruct] = obstacleGeometry(capsuleListObj) returns the obstacle ID and the geometry parameters for each obstacle in the capsule list.


[obstacleIDs,geomStruct] = obstacleGeometry(capsuleListObj,selectObstacleIDs) specifies which obstacle to return the ID and geometry parameters for.

[obstacleIDs,geomStruct,status] = obstacleGeometry(capsuleListObj,selectObstacleIDs) returns an indicator of whether each ID in selectobstacleIDs exists.


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Add obstacles to an environment using the dynamicCapsuleList object. Modify the properties of the obstacles. Remove an obstacle from the environment. Visualize the states of all objects in the environment at different timestamps.

Create the dynamicCapsuleList object. Extract the maximum number of steps to use as the number of time stamps for the object paths.

capsuleList = dynamicCapsuleList;
numSteps = capsuleList.MaxNumSteps;

Add Obstacles

Specify the states for the two obstacles as a linear path from x = 0 m to x = 100 m. The two obstacles are separated by 10 m in opposite directions on the y-axis.

obsState = linspace(0,1,numSteps)'.*[100 0 0];
obsState1 = obsState+[0 10 0];
obsState2 = obsState+[0 -10 0];

Generate default poses and geometric structures for the two obstacles using obstacle IDs.

[obsIDs,obsPoseStruct] = obstaclePose(capsuleList,[1 2]);
[obsIDs,obsGeomStruct] = obstacleGeometry(capsuleList,obsIDs);

Update Obstacles

Assign the states to the obstacles.

obsPoseStruct(1).States = obsState1;
obsPoseStruct(2).States = obsState2;

Increase the radius of the first obstacle to 2 m.

obsGeomStruct(1).Geometry.Radius = 2;

update the obstacles using the updateObstaclePose and updateObstacleGeometry object functions.


Visualize the obstacles.

axis equal

Figure contains an axes object. The axes object contains 2 objects of type patch.

Remove Obstacles

Remove the first obstacle from the capsule list by specifying its ID.


Visualize the obstacles again.

axis equal

Figure contains an axes object. The axes object contains an object of type patch.

Input Arguments

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Dynamic capsule list, specified as a dynamicCapsuleList or dynamicCapsuleList3D object.

Obstacle IDs, specified as a vector of positive integers. The function returns the obstacle IDs and geometry parameters for only the obstacles specified in this vector.

Output Arguments

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IDs of obstacles, returned as a vector of positive integers.

Geometry parameters for obstacles, returned as a structure or structure array where each structure contains the fields from the structure in the Geometry field of the associated obstacle. The fields of this structure depend on whether you are using a dynamicCapsuleList or dynamicCapsuleList3D object.

Indication of obstacle existence, returned as a N-element column vector of ones, zeros, and negative ones. Each value indicates whether the associated obstacle exists (1), updated (0), or a duplicate (-1). If you specify the same ego body ID more than once in the selectObstacleIDs argument, then the function marks all instances of that ID after the first as duplicates and ignores them.

Extended Capabilities

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

Introduced in R2020b