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# 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 | get position of object
setpos | set position of object
getorient | get orientation of object
setorient | set orientation of object
getpose | get pose of object
setpose | set pose of object

## Superclass methods (VREP_mirror)

getname | get object name
setparam_bool | set object boolean parameter
setparam_int | set object integer parameter
setparam_float | set object float parameter
getparam_bool | get object boolean parameter
getparam_int | get object integer parameter
getparam_float | get object float parameter
display | print the link parameters in human readable form
char | convert to string

## 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.

## See also

VREP_obj.setorient, VREP_obj.getopos, VREP_obj.getpose

# 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.

## See also

VREP_obj.setpos, VREP_obj.getorient, VREP_obj.getpose

# 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.

## See also

VREP_obj.setpose, VREP_obj.getorient, VREP_obj.getpos

# 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.

## See also

VREP_obj.getorient, VREP_obj.setpos, VREP_obj.setpose

# 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.

## See also

VREP_obj.getpos, VREP_obj.setorient, VREP_obj.setpose

# 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.

## See also

VREP_obj.getpose, VREP_obj.setorient, VREP_obj.setpos

© 1990-2014 Peter Corke.