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V-REP mirror of simple object
Mirror objects are MATLAB objects that reflect objects in the V-REP environment. Methods allow the V-REP state to be examined or changed.
This is a concrete class, derived from VREP_mirror, for all V-REP objects and allows access to pose and object parameters.
vrep = VREP(); bill = vrep.object('Bill'); % get the human figure Bill bill.setpos([1,2,0]); bill.setorient([0 pi/2 0]);
Methods throw exception if an error occurs.
getpos | get position of object |
setpos | set position of object |
getorient | get orientation of object |
setorient | set orientation of object |
getpose | get pose of object |
setpose | set pose of object |
getname | get object name |
setparam_bool | set object boolean parameter |
setparam_int | set object integer parameter |
setparam_float | set object float parameter |
getparam_bool | get object boolean parameter |
getparam_int | get object integer parameter |
getparam_float | get object float parameter |
display | print the link parameters in human readable form |
char | convert to string |
VREP_mirror, VREP_obj, VREP_arm, VREP_camera, VREP_hokuyo
VREP_obj mirror object constructor
v = VREP_base(name) creates a V-REP mirror object for a simple V-REP object type.
Get orientation of V-REP object
V.getorient() is the orientation of the corresponding V-REP object as a rotation matrix (3x3).
V.getorient('euler', OPTIONS) as above but returns ZYZ Euler angles.
V.getorient(base) is the orientation of the corresponding V-REP object relative to the VREP_obj object base.
V.getorient(base, 'euler', OPTIONS) as above but returns ZYZ Euler angles.
See tr2eul.
VREP_obj.setorient, VREP_obj.getopos, VREP_obj.getpose
Get position of V-REP object
V.getpos() is the position (1x3) of the corresponding V-REP object.
V.getpos(base) as above but position is relative to the VREP_obj object base.
VREP_obj.setpos, VREP_obj.getorient, VREP_obj.getpose
Get pose of V-REP object
V.getpose() is the pose (4x4) of the the corresponding V-REP object.
V.getpose(base) as above but pose is relative to the pose the VREP_obj object base.
VREP_obj.setpose, VREP_obj.getorient, VREP_obj.getpos
Set orientation of V-REP object
V.setorient(R) sets the orientation of the corresponding V-REP to rotation matrix R (3x3).
V.setorient(T) sets the orientation of the corresponding V-REP object to rotational component of homogeneous transformation matrix T (4x4).
V.setorient(E) sets the orientation of the corresponding V-REP object to ZYZ Euler angles (1x3).
V.setorient(x, base) as above but orientation is set relative to the orientation of VREP_obj object base.
VREP_obj.getorient, VREP_obj.setpos, VREP_obj.setpose
Set position of V-REP object
V.setpos(T) sets the position of the corresponding V-REP object to T (1x3).
V.setpos(T, base) as above but position is set relative to the position of the VREP_obj object base.
VREP_obj.getpos, VREP_obj.setorient, VREP_obj.setpose
Set pose of V-REP object
V.setpose(T) sets the pose of the corresponding V-REP object to T (4x4).
V.setpose(T, base) as above but pose is set relative to the pose of the VREP_obj object base.
VREP_obj.getpose, VREP_obj.setorient, VREP_obj.setpos
© 1990-2014 Peter Corke.