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variationProperties

Store actor and collision property variations

Since R2023a

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Description

The variationProperties object stores actor and collision property variations to use to create scenario variants.

Creation

Syntax

variations = variationProperties

Description

example

variations = variationProperties creates an empty variationProperties object, variations.

Note

This object requires the Scenario Variant Generator for Automated Driving Toolbox™ support package. You can install Scenario Variant Generator for Automated Driving Toolbox from the Add-On Explorer. For more information about installing add-ons, see Get and Manage Add-Ons.

Properties

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Actor variation properties, specified as a structure. The structure contains these fields:

  • ActorID — ID of the actor, specified as a positive integer.

  • Speed — Speed of the actor, specified as a scalar or an M-element row vector. M is the number of waypoints. Units are in meters per second.

  • Dimension — Dimensions of the actor, specified as a structure with fields Length, Width, and Height. Units are in meters.

  • Waypoints — Waypoints of the actor, specified as an M-by-3 matrix. M is the number of waypoints. Each row represents the actor position in the form [x y z]. Units are in meters.

  • Yaw — Yaw angle of the actor, specified as an M-element column vector. M is the number of waypoints. Units are in radians.

    By default, the fields of the ActorVariationProperties structure are empty arrays, [].

Note

To set the fields of the ActorVariationProperties structure, you must use the varyActorProperties object function.

Collision variation properties, specified as a structure. The structure contains these fields:

  • Actor1ID — ID of the first colliding actor in the pair, specified as a positive integer.

  • Actor2ID — ID of the second colliding actor in the pair, specified as a positive integer.

  • Actor1CollisionFraction — Point of collision relative to the collision side of the first actor, specified as a scalar in the range [0, 1]. For more information, see Collision Fraction.

  • Actor1CollisionSide — Side of the first actor at which the collision occurs, specified as "Front", "Left", "Back", or "Right".

  • Actor2CollisionFraction — Point of collision relative to the collision side of the second actor, specified as a scalar in the range [0, 1]. For more information, see Collision Fraction.

  • Actor2CollisionSide — Side of the second actor at which the collision occurs, specified as "Front", "Left", "Back", or "Right".

  • VariationType — Parameter to change to generate variant, specified as "WaitTime", "EntryTime", or "Waypoints".

Note

To set the fields of the CollisionVariationProperties structure, you must use the varyCollisionProperties object function.

Object Functions

varyActorPropertiesAdd variations to actor properties
varyCollisionPropertiesAdd variations to collision properties

Examples

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This example uses:

Open Live Script

Create an empty variationProperties object.

variation = variationProperties;

Display the actor variation properties.

disp(variation.ActorVariationProperties)
      ActorID: []
        Speed: []
    Dimension: []
    Waypoints: []
          Yaw: []

Tips

  • To apply actor property variations and collision variations to your seed scenario, use the generateVariants function.

Version History

Introduced in R2023a

See Also

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