M-File Help: VREP_obj View code for VREP_obj

VREP_obj

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.

Example

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.

Methods

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

Superclass methods (VREP_mirror)

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

See also

VREP_mirror, VREP_obj, VREP_arm, VREP_camera, VREP_hokuyo


VREP_obj.VREP_obj

VREP_obj mirror object constructor

v = VREP_base(name) creates a V-REP mirror object for a simple V-REP object type.


VREP_obj.getorient

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.

Options

See tr2eul.

See also

VREP_obj.setorient, VREP_obj.getopos, VREP_obj.getpose


VREP_obj.getpos

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.

See also

VREP_obj.setpos, VREP_obj.getorient, VREP_obj.getpose


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.

See also

VREP_obj.setpose, VREP_obj.getorient, VREP_obj.getpos


VREP_obj.setorient

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.

See also

VREP_obj.getorient, VREP_obj.setpos, VREP_obj.setpose


VREP_obj.setpos

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.

See also

VREP_obj.getpos, VREP_obj.setorient, VREP_obj.setpose


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.

See also

VREP_obj.getpose, VREP_obj.setorient, VREP_obj.setpos


 

© 1990-2014 Peter Corke.