subtree

Create subtree from robot model

Syntax

newSubtree = subtree(robot,bodyname)

Description

newSubtree= subtree(robot,bodyname)creates a new robot model using the parent name of the body specified bybodynameas the base name. All subsequently attached bodies (including the body withbodynamespecified) are added to the subtree. The originalrobotmodel is unaffected.

Input Arguments

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`robot`—Robot model
`rigidBodyTree`object

Robot model, specified as arigidBodyTreeobject.

`bodyname`—Body name
string scalar|character vector

Body name, specified as a string scalar or character vector. This body must be on the robot model specified inrobot.

Data Types:char|string

Output Arguments

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`newSubtree`— Robot subtree
`rigidBodyTree`object

Robot subtree, returned as arigidBodyTreeobject. This new subtree uses the parent name of the body specified bybodynameas the base name. All bodies that are attached in the previous robot model (including the body withbodynamespecified) are added to the subtree.

Extended Capabilities

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

Usage notes and limitations:

When creating therigidBodyTreeobject, use the syntax that specifies theMaxNumBodiesas an upper bound for adding bodies to the robot model. You must also specify theDataFormatproperty as a name-value pair. For example:

robot = rigidBodyTree("MaxNumBodies",15,"DataFormat","row")

To minimize data usage, limit the upper bound to a number close to the expected number of bodies in the model. All data formats are supported for code generation. To use the dynamics functions, the data format must be set to"row"or"column".

Theshowandshowdetailsfunctions do not support code generation.

版本历史

Introduced in R2016b

subtree

Syntax

Description

Input Arguments

robot—Robot modelrigidBodyTreeobject

bodyname—Body namestring scalar|character vector