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, which you can
create using the
vehicle functions, respectively.
Actor poses are in scenario coordinates.
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; road(scenario,roadcenters,roadwidth);
Add two straight roads with the default width, using road center points at each end.
roadcenters = [700 0 0; 100 0 0]; road(scenario,roadcenters) 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,'Position',[700 0 0],'Length',3,'Width',2,'Height',1.6);
Position the bicycle farther down the road.
bicycle = actor(scenario,'Position',[706 376 0]','Length',2,'Width',0.45,'Height',1.5);
Plot the scenario.
Display the actor poses and profiles.
poses = actorPoses(scenario)
poses=2×1 struct array with fields: ActorID Position Velocity Roll Pitch Yaw AngularVelocity
profiles = actorProfiles(scenario)
profiles=2×1 struct array with fields: ActorID ClassID Length Width Height OriginOffset MeshVertices MeshFaces RCSPattern RCSAzimuthAngles RCSElevationAngles
poses— Actor poses
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-direction, 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 scalar. Units are in degrees.
Pitch angle of actor, specified as a real scalar. Units are in degrees.
Yaw angle of actor, specified as a real scalar. Units are in degrees.
Angular velocity (ω) of actor in the x-, y-, and z-direction, specified as a real-valued vector of the form [ωx ωy ωz]. Units are in degrees per second.