convertToStruct

Convert actor to MATLAB structure

Since R2022a

Syntax

actorStruct = convertToStruct(actorSim)

Description

actorStruct = convertToStruct(actorSim) converts the ActorSimulation actor specified by actorSim to its equivalent MATLAB^® structure.

Examples

Convert Actor to Structure

Create sim, a ScenarioSimulation object.

rrApp = roadrunner("C:\Project\TestHighwayRoute"); 
openScenario(rrApp,"myScenario1"); 
sim = createSimulation(rrApp);

Start the simulation.

set(sim,"SimulationCommand","Start");

Pause the simulation.

set(sim,"SimulationCommand","Pause");

Retrieve one actor from the simulation.

actorsim = get(sim,"ActorSimulation"); 
actorOne = actorsim{1};

Convert the actor to a MATLAB structure.

actorStruct = convertToStruct(actorOne)

actorStruct = 

  struct with fields:

            ActorID: 1
               Pose: [4×4 double]
           Velocity: [0 0 0]
    AngularVelocity: [0 0 0]

Input Arguments

actorSim — Actor

ActorSimulation object

Actor, specified as an ActorSimulation object.

Output Arguments

actorStruct — MATLAB structure equivalent to actor

struct

MATLAB structure equivalent to actor, returned as a struct. This MATLAB structure contains the runtime attributes of the specified actor.

The returned structure contains these fields.

Field	Description
ActorID	Actor identifier, returned as a positive integer.
Pose	Position and orientation of actor in the RoadRunner Scenario coordinate system, returned as a 4-by-4 array.
Velocity	Velocity of actor in the x-, y-and z- directions, returned as a 1-by-3 vector. Units are in meters per second.
AngularVelocity	Angular velocity of actor in the x-, y-and z- directions, returned as a 1-by-3 real-valued vector. Units are in radians per second.

Version History

Introduced in R2022a