record

Run driving scenario and record actor states

Syntax

rec = record(scenario)

Description

rec = record(scenario) returns a recording, rec, of the states of actors in a driving scenario simulation, scenario. To record a scenario, you must define the trajectory of at least one actor.

Examples

Record Actor Poses from Driving Scenario

Create a driving scenario in which one car passes a stationary car on a two-lane road.

scenario = drivingScenario;
road(scenario,[0 0; 10 0; 53 -20],'lanes',lanespec(2));
plot(scenario,'Waypoints','on');
stationaryCar = vehicle(scenario,'ClassID',1,'Position',[25 -5.5 0],'Yaw',-22);

passingCar = vehicle(scenario,'ClassID',1);
waypoints = [1 -1.5; 16.36 -2.5; 17.35 -2.765; ...
            23.83 -2.01; 24.9 -2.4; 50.5 -16.7];
speed = 15; % m/s
smoothTrajectory(passingCar,waypoints,speed);

Record the driving scenario simulation.

rec = record(scenario);

Compare the recorded poses of the passing car at the start and end of the simulation.

rec(1).ActorPoses(2)

ans = struct with fields:
            ActorID: 2
           Position: [1 -1.5000 0]
           Velocity: [14.9816 0.7423 0]
               Roll: 0
              Pitch: 0
                Yaw: 2.8367
    AngularVelocity: [0 0 1.2537e-05]

rec(end).ActorPoses(2)

ans = struct with fields:
            ActorID: 2
           Position: [50.4717 -16.6823 0]
           Velocity: [12.7171 -7.9546 0]
               Roll: 0
              Pitch: 0
                Yaw: -32.0261
    AngularVelocity: [0 0 -0.0099]

Input Arguments

scenario — Driving scenario

drivingScenario object

Driving scenario, specified as a drivingScenario object.

Output Arguments

rec — Recording of actor states during simulation

M-by-1 vector of structures

Recording of actor states during simulation, returned as an M-by-1 vector of structures. M is the number of time steps in the simulation. Each structure corresponds to a simulation time step.

The rec structure has these fields:

Field	Description	Type
SimulationTime	Simulation time at each time step	Real scalar
ActorPoses	Actor poses in scenario coordinates	N-by-1 vector of ActorPoses structures, where N is the number of actors, including vehicles.

Each ActorPoses structure 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 and vehicle functions.

Data Types: struct

Version History

Introduced in R2017a

R2024b: Output ActorPoses structure contains front-axle position information

If a driving scenario contains a front-axle trajectory for at least one vehicle, the ActorPoses structure in the output rec structure now returns the front-axle position in the form [x y z] for vehicles specified with front-axle steering.