Positions, velocities, and orientations of actors in driving scenario
returns the current poses (positions, velocities, and orientations) for all actors
in the driving scenario,
poses = actorPoses(
scenario. Actors include
Vehicle objects, and
Barrier segments, which you can create using the
barrier functions, respectively. Actor poses are in scenario
Create Driving Scenario with Multiple Actors and Roads
Create a driving scenario containing a curved road, two straight roads, and two actors: a car and a bicycle. Both actors move along the road for 60 seconds.
Create the driving scenario object.
scenario = drivingScenario('SampleTime',0.1','StopTime',60);
Create the curved road using road center points following the arc of a circle with an 800-meter radius. The arc starts at 0°, ends at 90°, and is sampled at 5° increments.
angs = [0:5:90]'; R = 800; roadcenters = R*[cosd(angs) sind(angs) zeros(size(angs))]; roadwidth = 10; cr = road(scenario,roadcenters,roadwidth);
Add two straight roads with the default width, using road center points at each end. To the first straight road add barriers on both road edges.
roadcenters = [700 0 0; 100 0 0]; sr1 = road(scenario,roadcenters); barrier(scenario,sr1) barrier(scenario,sr1,'RoadEdge','left') roadcenters = [400 400 0; 0 0 0]; road(scenario,roadcenters);
Get the road boundaries.
rbdry = roadBoundaries(scenario);
Add a car and a bicycle to the scenario. Position the car at the beginning of the first straight road.
car = vehicle(scenario,'ClassID',1,'Position',[700 0 0], ... 'Length',3,'Width',2,'Height',1.6);
Position the bicycle farther down the road.
bicycle = actor(scenario,'ClassID',3,'Position',[706 376 0]', ... 'Length',2,'Width',0.45,'Height',1.5);
Plot the scenario.
Display the actor poses and profiles.
allActorPoses = actorPoses(scenario)
allActorPoses=242×1 struct array with fields: ActorID Position Velocity Roll Pitch Yaw AngularVelocity
allActorProfiles = actorProfiles(scenario)
allActorProfiles=242×1 struct array with fields: ActorID ClassID Length Width Height OriginOffset MeshVertices MeshFaces RCSPattern RCSAzimuthAngles RCSElevationAngles
Because there are barriers in this scenario, and each barrier segment is considered an actor,
actorProfiles functions return the poses of all stationary and non-stationary actors. To only obtain the poses and profiles of non-stationary actors such as vehicles and bicycles, first obtain their corresponding actor IDs using the
movableActorIDs = [scenario.Actors.ActorID];
Then, use those IDs to filter only non-stationary actor poses and profiles.
movableActorPoseIndices = ismember([allActorPoses.ActorID],movableActorIDs); movableActorPoses = allActorPoses(movableActorPoseIndices)
movableActorPoses=2×1 struct array with fields: ActorID Position Velocity Roll Pitch Yaw AngularVelocity
movableActorProfiles = allActorProfiles(movableActorPoseIndices)
movableActorProfiles=2×1 struct array with fields: ActorID ClassID Length Width Height OriginOffset MeshVertices MeshFaces RCSPattern RCSAzimuthAngles RCSElevationAngles
scenario — Driving scenario
Driving scenario, specified as a
poses — Actor poses
structures | array of structures
Actor poses, in scenario coordinates, returned as a structure or an array of structures. Poses are the positions, velocities, and orientations of actors.
Each structure in
poses has these fields.
Scenario-defined actor identifier, specified as a positive integer.
Position of actor, specified as a real-valued vector of the form [x y z]. Units are in meters.
Velocity (v) of actor in the x- y-, and z-directions, specified as a real-valued vector of the form [vx vy vz]. Units are in meters per second.
Roll angle of actor, specified as a real-valued scalar. Units are in degrees.
Pitch angle of actor, specified as a real-valued scalar. Units are in degrees.
Yaw angle of actor, specified as a real-valued scalar. Units are in degrees.
Angular velocity (ω) of actor in the x-, y-, and z-directions, specified as a real-valued vector of the form [ωx ωy ωz]. Units are in degrees per second.
For full definitions of these structure fields, see the
Introduced in R2017a