move

Position and velocity of walking pedestrian

Description

[BPPOS,BPVEL,BPAX] = move(pedestrian,T,ANGH) returns the position, BPPOS, velocity, BPVEL, and orientation axes, BPAX, of body segments of a moving pedestrian. The object then simulates the walking motion for the next duration, specified in T. ANGH specifies the current heading angle.

Input Arguments

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Pedestrian target model, specified as a backscatterPedestrian object.

Duration of next walking interval, specified as a positive scalar. Units are in seconds.

Example: 0.75

Data Types: double

Heading of the pedestrian, specified as a scalar. Heading is measured in the xy-plane from the x-axis towards the y-axis. Units are in degrees.

Example: -34

Data Types: double

Output Arguments

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Positions of body segments, returned as a real-valued 3-by-16 matrix. Each column represents the Cartesian position, [x;y;z], of one of 16 body segments. Units are in meters. See Body Segment Indices for the column representing the position of each body segment.

Data Types: double

Velocity of body segments, returned as a real-valued 3-by-16 matrix. Each column represents the Cartesian velocity vector, [vx;vy;vz], of one of 16 body segments. Units are in meters per second. See Body Segment Indices for the column representing the velocity of each body segment.

Data Types: double

Orientation axes of body segments, returned as a real-valued 3-by-3-by-16 array. Each page represents the 3-by-3 orientation axes of one of 16 body segments. Units are dimensionless. See Body Segment Indices for the page representing the orientation of each body segment.

Data Types: double

More About

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Body Segment Indices

Body segment indices define which columns in BPPOS and BPVEL contain the position and velocity data for a specific body segment. The indices also point to the page of BPAX containing the orientation matrix for a specific body segment. For example, column three of BPPOS contains the 3-D position of the left lower leg. Page three of BPAX contains the orientation matrix of the left lower leg.

Body Segment Indices

Body segmentBody segment index
left foot1
right foot2
left lower leg3
right lower leg4
left upper leg5
right upper leg6
left hip7
right hip8
left lower arm9
right lower arm10
left upper arm11
right upper arm12
left shoulder13
right shoulder14
neck15
head16

Extended Capabilities

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

Introduced in R2019a