# fitCollisionCapsule

Fit collision capsule around collision geometry

Since R2022b

## Syntax

``[collCapsule,fitInfo] = fitCollisionCapsule(geom)``

## Description

example

````[collCapsule,fitInfo] = fitCollisionCapsule(geom)` fits a collision capsule `collCapsule` around a collision geometry `geom`.```

## Examples

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Create a box with a length, width, and height of `1` meter and fit a collision capsule on it.

```box = collisionBox(1,1,1); show(box); hold on [collcaps,fitinfo]= fitCollisionCapsule(box);```

Visualize the new collision capsule on top of the box and set the alphas of the capsule to a low value so that the box is visible.

```[~,capvis] = show(collcaps); capvis.FaceAlpha=0.4; xlim auto ylim auto zlim auto```

## Input Arguments

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Collision geometry to fit capsule onto, specified as either a `collisionBox`, `collisionSphere`, `collisionCylinder`, or `collisionMesh` object.

## Output Arguments

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Collision capsule of the collision geometry, returned as a `collisionCapsule` object

Fit information of the collision capsule, returned as a structure. The structure contains the `Residual` field, returned as an N-element vector, where N is the total number of points of the collision geometry. Each element of the vector specifies the residual of a point of the collision geometry as:

`$|\left({o}_{cg}-{l}_{cc}\right)|+{r}_{cc}$`

where:

• ocg is the origin of the fitted collision object.

• lcc is the closest point of the central line of the collision capsule to ocg.

• rcc is the radius of the collision capsule.

## Version History

Introduced in R2022b