Compute the transform between two body frames for a given configuration. \n \nThe block accepts an [Nx1] vector of joint

[esmatparast]

Compute the transform between two body frames for a given configuration. \n \nThe block accepts an [Nx1] vector of joint positions (rad and m) for the N number of non-fixed joints in the associated rigid body tree model. The block outputs a [4x4] transformation matrix. \n \nTo define the rigid body tree model, set the Rigid body tree parameter to a rigidBodyTree object stored as a variable.

Compute the geometric Jacobian for a given configuration. \n \nThe block accepts an [Nx1] vector of joint positions (rad and m) for the N number of non-fixed joints in the associated rigid body tree model. The block outputs a [6xN] Jacobian matrix. \n \nTo define the rigid body tree model, set the Rigid body tree parameter to a rigidBodyTree object stored as a variable.

Compute joint accelerations given joint torques and states. \n \nThe Config, JointVel, and JointTorq input ports each accept [Nx1] vectors for the N number of non-fixed joints in the associated rigid body tree model. Config is a vector of joint positions (rad and m), JointVel is a vector of joint velocities (rad/s and m/s), and JointTorq (N*m and N) is a vector of joint torques and forces. \n \nThe FExt input port accepts a [6xM] matrix of external forces, where M is the number of bodies in the associated rigid body tree model. \n \nThe JointAccel outputs an [Nx1] vector of joint accelerations. \n \nTo define the rigid body tree model, set the Rigid body tree parameter to a rigidBodyTree object stored as a variable.

Compute required joint torques for given motion. \n \nThe Config, JointVel, and JointAccel input ports each accept [Nx1] vectors for the N number of non-fixed joints in the associated rigid body tree model. Config is a vector of joint positions (rad and m), JointVel is a vector of joint velocities (rad/s and m/s), and JointAccel (N*m and N) is a vector of joint torques and forces. \n \nThe FExt input port accepts a [6xM] matrix of external forces, where M is the number of bodies in the associated rigid body tree model. \n \nThe JointTorq outputs an [Nx1] vector of joint torques and forces. \n \nTo define the rigid body tree model, set the Rigid body tree parameter to a rigidBodyTree object stored as a variable.

Compute joint torques that cancel velocity-induced forces. \n \nThe Config and JointVel input ports each accept [Nx1] vectors for the N number of non-fixed joints in the associated rigid body tree model. Config is a vector of joint positions (rad and m), and JointVel is a vector of joint velocities (rad/s and m/s). The block outputs an [Nx1] vector of joint torques and forces (N*m and N). \n \nTo define the rigid body tree model, set the Rigid body tree parameter to a rigidBodyTree object stored as a variable.

Compute the joint torques that compensate gravity for a given configuration. \n \nThe block accepts an [Nx1] vector of joint positions (rad and m) for the N number of non-fixed joints in the associated rigid body tree model. The block outputs an [Nx1] vector of joint torques and forces (N*m and N). \n \nTo define the rigid body tree model, set the Rigid body tree parameter to a rigidBodyTree object stored as a variable.

Compute the joint space mass matrix for a given configuration. \n \nThe block accepts an [Nx1] vector of joint positions (rad and m) for the N number of non-fixed joints in the associated rigid body tree model. The block outputs an [NxN] mass matrix (kg). \n \nTo define the rigid body tree model, set the Rigid body tree parameter to a rigidBodyTree object stored as a variable.

Compute joint configurations to achieve an end effector pose. \n \nThe block accepts a [4x4] homogeneous transformation matrix representing the desired end effector pose, a [1x6] vector of weights on the tolerance for orientation and position of the end effector, and an [Nx1] vector of joint positions (rad or m) for the N number of non-fixed joints in the associated Rigid body tree model. The block outputs an [Nx1] vector of joint positions (rad or m). \n \nTo define the rigid body tree model, set the Rigid body tree parameter to a rigidBodyTree object stored as a variable.

Compute car-like vehicle motion using an Ackermann kinematic model. \n \nThe block accepts vehicle speed and steering angle angular velocity, which are both scalar values. The block outputs a four-element state vector of xy-positions, heading, and steering angle, [x y theta psi] and their time derivatives, stateDot.

Compute car-like vehicle motion using a bicycle kinematic model. \n \nThe block inputs are two scalar values that depend on the value of the Vehicle inputs parameter, and can either accept vehicle speed and steering angle, or vehicle speed and heading angular velocity. The block outputs a three-element state vector of xy-positions and vehicle heading, [x y theta], and their time derivatives, stateDot.

Compute vehicle motion using a differential drive kinematic model. \n \nThe block inputs are two scalar values that depend on the value of the Vehicle inputs parameter and can either accept left and right wheel speeds, or vehicle speed and heading angular velocity. The block outputs a three-element state vector of xy-positions and vehicle heading, [x y theta], and their time derivatives, stateDot.

Compute vehicle motion using a unicycle kinematic model. \n \nThe block inputs are two scalar values that depend on the value of the Vehicle inputs parameter, and can either accept wheel speed and heading angular velocity, or vehicle speed and heading angular velocity. The block outputs a three-element state vector of xy-positions and vehicle heading, [x y theta], and their time derivatives, stateDot.


blockmask,ackermann,differentialdrive