capsuleApproximation
Description
The capsuleApproximation
object approximates the collision geometries
associated with every body of a rigidBodyTree
object by fitting collision
capsules on each rigid body. This object enables you to query, modify, and visualize the
collision capsules associated with rigid bodies of a rigid body tree.
Creation
Description
Input Arguments
Properties
Object Functions
addCapsule | Add collision capsule to rigid body |
removeCapsule | Remove collision capsule from rigid body |
getCapsules | Get collision capsules of rigid body |
show | Visualize capsule approximation of rigid body tree |
updateGeometry | Update geometry of collision capsule of rigid body |
updatePose | Update pose of collision capsule of rigid body |
Examples
Extended Capabilities
Version History
Introduced in R2022b