roadrunner.hdmap.Reference

Defines id of referenced object in RoadRunner HD map using MATLAB

Since R2022b

Description

The roadrunner.hdmap.Reference object holds the id to the object being referred to in RoadRunner HD Maps. For example, a Junction A can refer to Lane B by holding Lane B's id in its reference.

Creation

Syntax

ref = roadrunner.hdmap.Reference()

ref = roadrunner.hdmap.Reference(Name=Value)

Description

ref = roadrunner.hdmap.Reference() creates an empty reference.

ref = roadrunner.hdmap.Reference(Name=Value) sets the properties of the reference using name-value pairs.

Properties

ID — ID of referenced object

character vector | string scalar

ID of the referenced object, specified as a character vector or string scalar object.

Example: ref= roadrunner.hdmap.Reference(ID="Lane2") creates a referenced object with id Lane2.

Data Types: char | string

Examples

Add Lane with Reference to RoadRunner HD Map

Create an empty RoadRunner HD Map by calling the roadrunnerHDMap object.

rrMap = roadrunnerHDMap()

rrMap = 
  roadrunnerHDMap with properties:

                Author: ""
            Projection: ""
    GeographicBoundary: [0×3 double]
                 Lanes: [0×1 roadrunner.hdmap.Lane]
        LaneBoundaries: [0×1 roadrunner.hdmap.LaneBoundary]
            LaneGroups: [0×1 roadrunner.hdmap.LaneGroup]
          LaneMarkings: [0×1 roadrunner.hdmap.LaneMarking]
             Junctions: [0×1 roadrunner.hdmap.Junction]
          BarrierTypes: [0×1 roadrunner.hdmap.BarrierType]
              Barriers: [0×1 roadrunner.hdmap.Barrier]
             SignTypes: [0×1 roadrunner.hdmap.SignType]
                 Signs: [0×1 roadrunner.hdmap.Sign]

Create the road lane using the roadrunner.hdmap.Lane object. Specify the lane information for the lane id, coordinates defining the lane geometry, driving direction, and lane type.

rLane = roadrunner.hdmap.Lane(ID="Lane1",Geometry=[-0.782 -1.56;50.78 23.43],TravelDirection="Forward",LaneType="Driving")

rLane = 
  Lane with properties:

                   ID: "Lane1"
             Geometry: [2×2 double]
      TravelDirection: Forward
     LeftLaneBoundary: [0×0 roadrunner.hdmap.AlignedReference]
    RightLaneBoundary: [0×0 roadrunner.hdmap.AlignedReference]
         Predecessors: [0×1 roadrunner.hdmap.AlignedReference]
           Successors: [0×1 roadrunner.hdmap.AlignedReference]
             LaneType: Driving

Create a reference to Lane1 using the roadrunner.hdmap.Reference object.

ref = roadrunner.hdmap.Reference(ID="Lane1")

ref = 
  Reference with properties:

    ID: "Lane1"

Version History

Introduced in R2022b