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Aero.Node

Create node object for use with virtual reality animation

Syntax

h = Aero.Node

Description

h = Aero.Node creates a node object for use with virtual reality animation. Typically, you do not need to create a node object with this method. This is because the .wrl file stores the information for a virtual reality scene. During the initialization of the virtual reality animation object, any node with a DEF statement in the specified .wrl file has a node object created.

When working with nodes, consider the translation and rotation. Translation is a 1-by-3 matrix in the aerospace body coordinate system defined for the VirtualRealityAnimation object or another coordinate system. In the latter case, you can use the CoordTransformFcn function to move it into the defined aerospace body coordinate system. The defined aerospace body coordinate system is defined relative to the screen as x-left, y-in, z-down.

Rotation is a 1-by-3 matrix, in radians, that specifies the rotations about the right-hand x-y-z sequence of coordinate axes. The order of application of the rotation is z-y-x (r-q-p). This function uses the CoordTransformFcn to apply the translation and rotation from the input coordinate system to the defined aerospace body coordinate system. The function then moves the translation and rotation from the defined aerospace body coordinate system to the defined VRML x-y-z coordinates for the VirtualRealityAnimation object. The defined VRML coordinate system is defined relative to the screen as x-right, y-up, z-out.

Constructor Summary

ConstructorDescription
NodeCreate node object for use with virtual reality animation.

Method Summary

MethodDescription
findstartstoptimesReturn start and stop times for time series data.
moveChange node translation and rotation.
updateChange node position and orientation versus time data.

Property Summary

PropertyDescriptionValues
NameSpecify name of the node object.string
VRNodeReturn the handle to the vrnode object associated with the node object.MATLAB array
CoordtransformFcnSpecify a function that controls the coordinate transformation.MATLAB array
TimeseriesSourceSpecify time series source.MATLAB array
TimeseriesSourceTypeSpecify the type of time series data stored in 'TimeseriesSource'. Five values are available. They are listed in the following table. The default value is 'Array6DoF'. string
TimeseriesReadFcnSpecify time series read function.MATLAB array

The time series data, stored in the property 'TimeseriesSource', is interpreted according to the 'TimeseriesSourceType' property, which can be one of:

'Timeseries'

MATLAB time series data with six values per time:

lat lon alt phi theta psi

The values are resampled.

'StructureWithTime'

Simulink struct with time (for example, Simulink root outport logging 'Structure with time'):

  • signals(1).values: lat lon alt

  • signals(2).values: phi theta psi

Signals are linearly interpolated vs. time using interp1.

'Array6DoF'A double-precision array in n rows and 7 columns for 6-DoF data: time lat lon alt phi theta psi. If a double-precision array of 8 or more columns is in 'TimeseriesSource', the first 7 columns are used as 6-DoF data.
'Array3DoF'A double-precision array in n rows and 4 columns for 3-DoF data: time lat alt theta. If a double-precision array of 5 or more columns is in 'TimeseriesSource', the first 4 columns are used as 3-DoF data.
'Custom'Position and angle data is retrieved from 'TimeseriesSource' by the currently registered 'TimeseriesReadFcn'.

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