# 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.