actorPoses

Positions, velocities, and orientations of actors in driving scenario

Syntax

poses = actorPoses(scenario)

Description

poses = actorPoses(scenario) returns the current poses (positions, velocities, and orientations) for all actors in the driving scenario, scenario. Actors include Actor objects, Vehicle objects, and Barrier segments, which you can create using the actor, vehicle and barrier functions, respectively. Actor poses are in scenario coordinates.

Examples

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.

plot(scenario,'Centerline','on','RoadCenters','on');
title('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, actorPoses and 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 scenario.Actors.ActorID property.

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

Input Arguments

scenario — Driving scenario

drivingScenario object

Driving scenario, specified as a drivingScenario object.

Output Arguments

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.

Field	Description
ActorID	Scenario-defined actor identifier, specified as a positive integer.
In R2024b: FrontAxlePosition	Front-axle position of the vehicle, specified as a three-element row vector in the form [x y z]. Units are in meters. Note If the driving scenario does not contain a front-axle trajectory for at least one vehicle, then the ActorPoses structure does not contain this field.
Position	Position of actor, specified as a real-valued vector of the form [x y z]. Units are in meters.
Velocity	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	Roll angle of actor, specified as a real-valued scalar. Units are in degrees.
Pitch	Pitch angle of actor, specified as a real-valued scalar. Units are in degrees.
Yaw	Yaw angle of actor, specified as a real-valued scalar. Units are in degrees.
AngularVelocity	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 actor, vehicle and barrier functions.

Version History

Introduced in R2017a