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 return position of object given handle
setpos set position of object given handle
getorient return orientation of object given handle
setorient set orientation of object given handle
getpose return pose of object given handle
setpose set pose of object given handle

Superclass methods (VREP_base)

setobjparam_bool set object boolean parameter
setobjparam_int set object integer parameter
setobjparam_float set object float parameter
display print the link parameters in human readable form
char convert to string

Properties (read/write)

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.


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.


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.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.


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.


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.


Robotics Toolbox for MATLAB © 1990-2012 Peter Corke.