exportActorTrajectoryToCSV

Export trajectories of actors in RoadRunner scenario to comma-separated values (CSV) files using MATLAB

Since R2025a

Syntax

exportActorTrajectoryToCSV(rrApp)

exportActorTrajectoryToCSV(rrApp,Name=Value)

Description

exportActorTrajectoryToCSV(rrApp) exports the trajectories of the actors in the current scenario of the specified RoadRunner Scenario application rrApp to CSV files. Each exported CSV file contains the time, position, and, orientation values of the waypoints on the trajectories of the corresponding actor.

exportActorTrajectoryToCSV(rrApp,Name=Value) sets options using one or more name-value arguments. For example, ExcludeTiming=true excludes the timing values of waypoints on the actor trajectories from the exported CSV files.

Examples

Export Actor Trajectories to CSV

Export the trajectories of the actors in a scenario to CSV files using MATLAB®.

Specify the path to an existing project. For example, this code shows the path to a project located at "C:\RR\MyProject".

projectFolder = "C:\RR\MyProject";

Create a roadrunner object and launch RoadRunner by specifying your project path. This example assumes that RoadRunner is installed in its default location.

rrApp = roadrunner(projectFolder);

Open the TrajectoryCutIn.rrscenario scenario in RoadRunner Scenario by using the openScenario function. This scenario is included by default in RoadRunner projects, and is located in the Scenarios folder of the project.

filename = "TrajectoryCutIn.rrscenario";
openScenario(rrApp,filename);

Run the simulation by using the simulateScenario function, and set EnableLogging to true to enable RoadRunner Scenario to log the simulation data.

simulateScenario(rrApp,EnableLogging=true);

Export the trajectories of the actors in the scenario by using the exportActorTrajectoryToCSV function, specifying the rrApp object. Specify the folder path and the folder name to which you want to export the CSV files using the FolderPath and FolderName name-value arguments.

exportActorTrajectoryToCSV(rrApp,FolderPath="C:\RR\MyProject\Exports",FolderName="TrajectoryCutIn");

Once the simulation is complete, RoadRunner exports the CVS files to the specified export folder. You can now navigate to the export folder and locate the CSV files. The export folder contains an individual CSV file for each actor in the scenario. For this example, the export folder has the Lead_1.csv and Ego_2.csv files that contain the actor trajectory data of the lead and ego vehicle actors, respectively.

Input Arguments

rrApp — RoadRunner application

roadrunner object

RoadRunner application associated with a project, specified as a roadrunner object. This object provides functions for performing common workflow tasks such as opening, closing, and saving scenes and projects. rrApp provides functions that support importing data from files and exporting scenes to other formats from RoadRunner.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: exportActorTrajectoryToCSV(rrApp,ExcludeTiming=true) excludes the time values of waypoints from the actor trajectories in the exported CSV files.

FolderPath — Export folder path

character vector | string scalar

Export folder path, specified as a character vector or string scalar. Use this argument to specify an absolute path to the folder in which to create the folder that contains the exported CSV files. If the specified folder path does not exist then RoadRunner returns an error. If you do not specify a value for the FolderPath argument, then RoadRunner creates the folder in the Exports folder of the current project folder.

Data Types: char | string

FolderName — Export folder name

character vector | string scalar

Export folder name, specified as a character vector or string scalar. Use this argument to specify the name of the folder to which to export the CSV files. RoadRunner names the folder by appending the date and timestamp to the end of FolderName. If you do not specify a value for the FolderName argument, the default behavior of RoadRunner depends on whether you have saved the current scenario.

• If you have saved the current scenario, RoadRunner creates a folder with the same name as the saved scenario, and appends the date and timestamp. For example, TrajectoryCutIn_2024-09-06_18-39-39.

• If you have not saved the current scenario, RoadRunner creates a folder with the name New Scenario and appends the date and timestamp. For example, New Scenario_2024-09-06_18-39-39.

For each actor in the scenario, the folder contains an individual CSV file with the name ActorName_ActorID.csv, where ActorName and ActorID correspond to the values of the Name and Actor Id attributes, respectively, of the corresponding actor.

When you export actor trajectories to CSV files, the files organize the data in columns. Each column header specifies the type of data contained within that column. This table lists the header for each component in the exported CSV files, along with the corresponding unit of measurement for each component.

Header Names, Components, and Units

Header	Component	Unit
time	Time	seconds
x	x-position	meters
y	y-position	meters
z	z-position	meters
yaw	Yaw	radians
pitch	Pitch	radians
roll	Roll	radians

Example: exportActorTrajectoryToCSV(rrApp,"C:\RR\MyProject\Exports","TrajectoryCutIn"), exports the CSV files to the TrajectoryCutIn_YYYY-MM-DD_HH-MM-SS folder located in the "C:\RR\MyProject\Exports" folder. YYYY is the year, MM the month, DD the day, HH the hour, MM the minute, and SS the second at which you export the actor trajectories.

Data Types: char | string

ExcludeTiming — Exclude timing data

false or 0 (default) | true or 1

Exclude the timing data, specified as a logical 1 (true) or 0 (false). If true, RoadRunner excludes the timing values of waypoints from the actor trajectories in the exported CSV files.

ExcludeOrientation — Exclude orientation data

false or 0 (default) | true or 1

Exclude orientation data, specified as a logical 1 (true) or 0 (false). If true, RoadRunner excludes the yaw, pitch, and roll values of waypoints from the actor trajectories in the exported CSV files.

ExcludeChildActors — Exclude trajectories of child actors

false or 0 (default) | true or 1

Exclude the trajectories of the child actors from the exported CSV files, specified as a logical 1 (true) or 0 (false). If true, RoadRunner does not export the trajectories of the child actors attached to parent vehicles to CSV files.

If a scenario includes a child actor attached to a parent vehicle, such as a trailer, and you set this field to false, the default behavior of RoadRunner Scenario depends on the value of the Type attribute of the Connection Attributes for the child actor.

• If you set the Type attribute to trailer, RoadRunner Scenario allows the child actor to move and use independent dynamics relative to the parent vehicle. In this case, the orientation values for the child and parent vehicles differ in the exported CSV files.

• If you set the Type attribute to fixed, RoadRunner Scenario locks the child actor rotation to the dynamics of the parent vehicle, and the orientation values for both the child and parent vehicles are the same in the exported CSV files.

For more information on connection attributes, see Vehicle Assets (RoadRunner Scenario).

Version History

Introduced in R2025a

R2026a: Exclude trajectories of child actors from exported CSV files

You can now exclude the trajectories of child actors attached to parent vehicles from the exported CSV files, using the new ExcludeChildActors name-value argument.