add

Add waypoints to trajectory object

Since R2024b

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Syntax

add(trajectory,timestamps,x,y,z)
add(___,Orientation=orientation)
add(___,Attributes=attributes)

Description

Add-On Required: This feature requires the Scenario Builder for Automated Driving Toolbox add-on.

add(trajectory,timestamps,x,y,z) adds the specified waypoint xyz-coordinates x, y, and z, with their corresponding timestamps timestamps, to the trajectory object trajectory.

example

add(___,Orientation=orientation) adds orientation angles orientation to the trajectory object trajectory, in addition to the input arguments from the previous syntax.

add(___,Attributes=attributes) adds optional sensor attributes attributes to the trajectory object trajectory, in addition to the input arguments from the previous syntax.

Examples

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This example uses:

Open Live Script

Load recorded GPS data into the workspace.

load("recordedGPSData.mat","X","Y","Z","timestamps")

Create a trajectory object by using the first 100 of the loaded timestamps and xyz-coordinates.

idx = 100;
traj = scenariobuilder.Trajectory(timestamps(1:idx),X(1:idx),Y(1:idx),Z(1:idx))
traj = 
  Trajectory with properties:

               Name: ''

         NumSamples: 100
           Duration: 4.9492
         SampleRate: 20.2054
         SampleTime: 0.0500
         Timestamps: [100×1 double]

           Position: [100×3 double]
        Orientation: [100×3 double]
           Velocity: [100×3 double]
             Course: [100×1 double]
        GroundSpeed: [100×1 double]
       Acceleration: [100×3 double]
    AngularVelocity: [100×3 double]

        LocalOrigin: [0 0 0]
         TimeOrigin: 0

         Attributes: []

Plot the trajectory object.

plot(traj)

Add more waypoints to the trajectory object.

add(traj,timestamps(idx+1:end),X(idx+1:end),Y(idx+1:end),Z(idx+1:end))

Plot the trajectory object.

plot(traj)

Input Arguments

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Trajectory data, specified as a Trajectory object.

This property is read-only.

Timestamps of the trajectory data, specified as an N-element numeric column vector, an N-element datetime array, or an N-element duration array. N is the number of timestamps. The data type of the timestamps and the data type of the Timestamps property of the input Trajectory object trajectory must be the same. If you specify an N-element numeric column vector, units must be in seconds. Each element in the timestamps argument specifies the time at which the trajectory data was collected.

The add function arranges the added GPS data points by their timestamps, in increasing order.

x-coordinates of the added waypoints in the world coordinate system, specified as an N-element numeric column vector. N is the number of timestamps. Units are in meters.

Data Types: single | double

y-coordinates of the added waypoints in the world coordinate system, specified as an N-element numeric column vector. N is the number of timestamps. Units are in meters.

Data Types: single | double

z-coordinates of the added waypoints in the world coordinate system, specified as an N-element numeric column vector. N is the number of timestamps. Units are in meters.

Data Types: single | double

Orientation angles at each waypoint, specified as a real-valued N-by-3 matrix. N is the number of waypoints. Each row specifies the Euler rotation angles relative to the z-, y-, and x-axes of the corresponding waypoint in the form [yaw pitch roll].

Orientations are in the local coordinate system. Units are in radians.

Note

If you do not specify the Orientation name-value argument, by default, the Trajectory object computes the value of the Orientation property by using the value of the Position property.

Data Types: double

Optional trajectory attributes of the added waypoints, specified as an N-by-1 cell array. N is the number of timestamps. Each cell contains the additional trajectory attributes recorded at the corresponding timestamp.

Data Types: cell

Version History

Introduced in R2024b

See Also

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