9.4 Matlab API
The following tables describes the Matlab functions.
| % Accelerometer : |
| wb_accelerometer_enable(tag, ms) |
| wb_accelerometer_disable(tag) |
| period = wb_accelerometer_get_sampling_period(tag) |
| [x y z] = wb_accelerometer_get_values(tag) |
| % Camera : |
| WB_CAMERA_COLOR |
| WB_CAMERA_RANGE_FINDER |
| WB_CAMERA_BOTH |
| wb_camera_enable(tag, ms) |
| wb_camera_disable(tag) |
| period = wb_camera_get_sampling_period(tag) |
| fov = wb_camera_get_fov(tag) |
| wb_camera_set_fov(tag, fov) |
| width = wb_camera_get_width(tag) |
| height = wb_camera_get_height(tag) |
| near = wb_camera_get_near(tag) |
| type = wb_camera_get_type(tag) |
| image = wb_camera_get_image(tag) |
| image = wb_camera_get_range_image(tag) |
| max_range = wb_camera_get_max_range(tag) |
| wb_camera_save_image(tag, 'filename', quality) |
| % Compass : |
| wb_compass_enable(tag, ms) |
| wb_compass_disable(tag) |
| period = wb_compass_get_sampling_period(tag) |
| [x y z] = wb_compass_get_values(tag) |
| % Connector : |
| wb_connector_enable_presence(tag, ms) |
| wb_connector_disable_presence(tag) |
| presence = wb_connector_get_presence(tag) |
| wb_connector_lock(tag) |
| wb_connector_unlock(tag) |
| % Device : |
| wb_device_get_name(tag) |
| wb_device_get_type(tag) |
| % DifferentialWheels : |
| wb_differential_wheels_set_speed(left, right) |
| wb_differential_wheels_enable_encoders(ms) |
| wb_differential_wheels_disable_encoders() |
| period = wb_differential_wheels_get_encoders_sampling_period() |
| left = wb_differential_wheels_get_left_encoder() |
| right = wb_differential_wheels_get_right_encoder() |
| wb_differential_wheels_set_encoders(left, right) |
| % Display : |
| RGB |
| RGBA |
| ARGB |
| BGRA |
| width = wb_display_get_width(tag) |
| height = wb_display_get_height(tag) |
| wb_display_set_color(tag, [r g b]) |
| wb_display_set_alpha(tag, alpha) |
| wb_display_set_opacity(tag, opacity) |
| wb_display_draw_pixel(tag, x, y) |
| wb_display_draw_line(tag, x1, y1, x2, y2) |
| wb_display_draw_rectangle(tag, x, y, width, height) |
| wb_display_draw_oval(tag, cx, cy, a, b) |
| wb_display_draw_polygon(tag, [x1 x2 ... xn], [y1 y2 ... yn]) |
| wb_display_draw_text(tag, 'txt', x, y) |
| wb_display_fill_rectangle(tag, x, y, width, height) |
| wb_display_fill_oval(tag, cx, cy, a, b) |
| wb_display_fill_polygon(tag, [x1 x2 ... xn], [y1 y2 ... yn]) |
| image = wb_display_image_copy(tag, x, y, width, height) |
| wb_display_image_paste(tag, image, x, y) |
| image = wb_display_image_load(tag, 'filename') |
| image = wb_display_image_new(tag, width, height, data ,format) |
| wb_display_image_save(tag, image, 'filename') |
| wb_display_image_delete(tag, image) |
| % DistanceSensor : |
| wb_distance_sensor_enable(tag, ms) |
| wb_distance_sensor_disable(tag) |
| period = wb_distance_sensor_get_sampling_period(tag) |
| value = wb_distance_sensor_get_value(tag) |
| % Emitter : |
| WB_CHANNEL_BROADCAST |
| wb_emitter_send(tag, data) |
| wb_emitter_set_channel(tag, channel) |
| channel = wb_emitter_get_channel(tag) |
| range = wb_emitter_get_range(tag) |
| wb_emitter_set_range(tag, range) |
| size = wb_emitter_get_buffer_size(tag) |
| % GPS : |
| wb_gps_enable(tag, ms) |
| wb_gps_disable(tag) |
| period = wb_gps_get_sampling_period(tag) |
| [x y z] = wb_gps_get_values(tag) |
| % Gyro : |
| wb_gyro_enable(tag, ms) |
| wb_gyro_disable(tag) |
| period = wb_gyro_get_sampling_period(tag) |
| [x y z] = wb_gyro_get_values(tag) |
| % InertialUnit : |
| wb_inertial_unit_enable(tag, ms) |
| wb_inertial_unit_disable(tag) |
| period = wb_inertial_unit_get_sampling_period(tag) |
| [roll pitch yaw] = wb_inertial_unit_get_roll_pitch_yaw(tag) |
| % LED : |
| wb_led_set(tag, state) |
| % LightSensor : |
| wb_light_sensor_enable(tag, ms) |
| wb_light_sensor_disable(tag) |
| period = wb_light_sensor_get_sampling_period(tag) |
| value = wb_light_sensor_get_value(tag) |
| % Motion : |
| motion = wbu_motion_new('filename') |
| wbu_motion_delete(motion) |
| wbu_motion_play(motion) |
| wbu_motion_stop(motion) |
| wbu_motion_set_loop(motion, loop) |
| wbu_motion_set_reverse(motion, reverse) |
| over = wbu_motion_is_over(motion) |
| duration = wbu_motion_get_duration(motion) |
| time = wbu_motion_get_time(motion) |
| wbu_motion_set_time(motion, time) |
| Node: |
| WB_NODE_NO_NODE, WB_NODE_APPEARANCE, WB_NODE_BACKGROUND, |
| WB_NODE_BOX, WB_NODE_COLOR, WB_NODE_CONE, |
| WB_NODE_COORDINATE, WB_NODE_CYLINDER, |
| WB_NODE_DIRECTIONAL_LIGHT, WB_NODE_ELEVATION_GRID, |
| WB_NODE_EXTRUSION, WB_NODE_FOG, WB_NODE_GROUP, |
| WB_NODE_IMAGE_TEXTURE, WB_NODE_INDEXED_FACE_SET, |
| WB_NODE_INDEXED_LINE_SET, WB_NODE_MATERIAL, |
| WB_NODE_POINT_LIGHT, WB_NODE_SHAPE, WB_NODE_SPHERE, |
| WB_NODE_SPOT_LIGHT, WB_NODE_SWITCH, |
| WB_NODE_TEXTURE_COORDINATE, WB_NODE_TEXTURE_TRANSFORM, |
| WB_NODE_TRANSFORM, WB_NODE_VIEWPOINT, WB_NODE_WORLD_INFO, |
| WB_NODE_CAPSULE, WB_NODE_PLANE, WB_NODE_ROBOT, |
| WB_NODE_SUPERVISOR, WB_NODE_DIFFERENTIAL_WHEELS, |
| WB_NODE_SOLID, WB_NODE_PHYSICS, WB_NODE_CAMERA_ZOOM, |
| WB_NODE_CHARGER, WB_NODE_DAMPING, |
| WB_NODE_CONTACT_PROPERTIES, WB_NODE_ACCELEROMETER, |
| WB_NODE_CAMERA, WB_NODE_COMPASS, WB_NODE_CONNECTOR, |
| WB_NODE_DISPLAY, WB_NODE_DISTANCE_SENSOR, WB_NODE_EMITTER, |
| WB_NODE_GPS, WB_NODE_GYRO, WB_NODE_LED, |
| WB_NODE_LIGHT_SENSOR, WB_NODE_MICROPHONE,WB_NODE_PEN, |
| WB_NODE_RADIO, WB_NODE_RECEIVER, WB_NODE_SERVO, |
| WB_NODE_SPEAKER, WB_NODE_TOUCH_SENSOR |
| % Pen : |
| wb_pen_write(tag, write) |
| wb_pen_set_ink_color(tag, [r g b], density) |
| % Receiver : |
| WB_CHANNEL_BROADCAST |
| wb_receiver_enable(tag, ms) |
| wb_receiver_disable(tag) |
| period = wb_receiver_get_sampling_period(tag) |
| length = wb_receiver_get_queue_length(tag) |
| wb_receiver_next_packet(tag) |
| size = wb_receiver_get_data_size(tag) |
| data = wb_receiver_get_data(tag) |
| strength = wb_receiver_get_signal_strength(tag) |
| [x y z] = wb_receiver_get_emitter_direction(tag) |
| wb_receiver_set_channel(tag, channel) |
| channel = wb_receiver_get_channel(tag) |
| % Robot : |
| WB_MODE_SIMULATION, |
| WB_MODE_CROSS_COMPILATION, |
| WB_MODE_REMOTE_CONTROL |
| WB_ROBOT_KEYBOARD_END |
| WB_ROBOT_KEYBOARD_HOME |
| WB_ROBOT_KEYBOARD_LEFT |
| WB_ROBOT_KEYBOARD_UP |
| WB_ROBOT_KEYBOARD_RIGHT |
| WB_ROBOT_KEYBOARD_DOWN |
| WB_ROBOT_KEYBOARD_PAGEUP |
| WB_ROBOT_KEYBOARD_PAGEDOWN |
| WB_ROBOT_KEYBOARD_NUMPAD_HOME |
| WB_ROBOT_KEYBOARD_NUMPAD_LEFT |
| WB_ROBOT_KEYBOARD_NUMPAD_UP |
| WB_ROBOT_KEYBOARD_NUMPAD_RIGHT |
| WB_ROBOT_KEYBOARD_NUMPAD_DOWN |
| WB_ROBOT_KEYBOARD_NUMPAD_END |
| WB_ROBOT_KEYBOARD_KEY |
| WB_ROBOT_KEYBOARD_SHIFT |
| WB_ROBOT_KEYBOARD_CONTROL |
| WB_ROBOT_KEYBOARD_ALT |
| wb_robot_step(ms) |
| tag = wb_robot_get_device('name') |
| wb_robot_battery_sensor_enable(ms) |
| wb_robot_battery_sensor_disable() |
| period = wb_robot_get_battery_sensor_sampling_period() |
| value = wb_robot_battery_sensor_get_value() |
| step = wb_robot_get_basic_time_step() |
| mode = wb_robot_get_mode() |
| model = wb_robot_get_model() |
| name = wb_robot_get_name() |
| path = wb_robot_get_project_path() |
| sync = wb_robot_get_synchronization() |
| time = wb_robot_get_time() |
| wb_robot_keyboard_enable(ms) |
| wb_robot_keyboard_disable() |
| key = wb_robot_keyboard_get_key() |
| % Servo : |
| wb_servo_set_position(tag, position) |
| wb_servo_set_velocity(tag, vel) |
| wb_servo_set_acceleration(tag, acc) |
| wb_servo_set_motor_force(tag, force) |
| wb_servo_set_control_p(tag, p) |
| wb_servo_enable_position(tag, ms) |
| wb_servo_disable_position(tag) |
| period = wb_servo_get_position_sampling_period(tag) |
| position = wb_servo_get_position(tag) |
| wb_servo_enable_motor_force_feedback(tag, ms) |
| wb_servo_disable_motor_force_feedback(tag) |
| period = wb_servo_get_motor_force_feedback_sampling_period(tag) |
| force = wb_servo_get_motor_force_feedback(tag) |
| wb_servo_set_force(tag, force) |
| % TouchSensor : |
| wb_touch_sensor_enable(tag, ms) |
| wb_touch_sensor_disable(tag) |
| period = wb_touch_sensor_get_sampling_period(tag) |
| value = wb_touch_sensor_get_value(tag) |
| [x y z] = wb_touch_sensor_get_values(tag) |