MATLAB: Unrecognized method, property, or field ‘vertices’ for class ‘triangulation’.

errorMATLABvertices

I am trying to create a virtual robot and can not get this code to run without getting a error.
clc
clear all
dtr = pi/180;
base =stlread('base.stl');
arm=stlread('arm.stl');
head=stlread('head.stl');
finger=stlread('finger.stl');
patch(base, 'EdgeColor', 'None','FaceColor','r');
patch(arm, 'EdgeColor', 'None','FaceColor', 'b');
patch(head, 'EdgeColor', 'None','FaceColor', 'g');
patch(finger, 'EdgeColor', 'None','FaceColor', 'y');
xlabel('x');
ylabel('y');
zlabel('z');
%Make base larger
for ind=1:length(base.vertices(:,1))
base.vertices(ind,:)=(1150*eye(3)*base.vertices(ind,:)')';
end
%Move the base in the y direction
R=[1 0 0;0 1 0;0 0 1]';d=[0;75;0];
for ind =1:length(base.vertices(:,1))
base.vertices(ind,:) = (R*base.vertices(ind,:)'+d)';
end
%move arm in x and z direction
R=[1 0 0; 0 1 0 ; 0 0 1]';d=[-75;0;0.03];
for ind =1:length(arm.vertices(:,1))
arm.vertices(ind,:) = (R*arm.vertices(ind,:)'+d)';
end
%change head x direction and move 100.03 on z and 300 on x
R=[1 0 0; 0 1 0; 0 0 -1]';d=[250;0;265];
for ind = 1:length(head.vertices(:,1))
head.vertices(ind,:) = (R*head.vertices(ind,:)'+d)';
end
%moving finger
R=[1 0 0; 0 1 0; 0 0 -1]'; d=[520;-171;400];
for ind = 1:length(finger.vertices(:,1))
finger.vertices(ind,:) = (R*finger.vertices(ind,:)'+d)';
end
baseo=base; armo=arm; heado=head; fingero=finger;
patch(baseo, 'EdgeColor', 'None','FaceColor','r');
patch(armo, 'EdgeColor', 'None','FaceColor', 'b');
patch(heado, 'EdgeColor', 'None','FaceColor', 'g');
patch(fingero, 'EdgeColor', 'None','FaceColor', 'y');
axis equal
view(3)
xlabel('x');
ylabel('y');
zlabel('z');
pause
When trying to run this code I keep receiving the error
Unrecognized method, property, or field 'vertices'
for class 'triangulation'.
Error in robot (line 26)
for ind =1:length(base.vertices(:,1))

Best Answer

The stlread function's documentation page states it returns a triangulation object. The documentation page for triangulation indicates that this object does not have a vertices property so the error message is correct. You likely want to work with the Points property of the triangulation objects.
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