Set Up RoadRunner Scenario
Create a roadrunner object, specifying the
path to an existing project. For example, this code shows the path to a project, on a
Windows® machine, located at "C:\RR\MyProject". This code assumes that
RoadRunner is installed in the default location, and returns an object,
rrApp, that provides functions for performing basic tasks such as
opening, closing, and saving scenes and projects.
Note
If you are opening RoadRunner from MATLAB® for the first time, or if you have changed the RoadRunner installation location since you last opened it from MATLAB, you can use the roadrunnerSetup function to specify new default
project and installation folders to use when opening RoadRunner. You can save these folders between MATLAB sessions by selecting the Across MATLAB
sessions option from the corresponding drop down.
Open an existing scene in RoadRunner by using the openScene function, specifying the
roadrunner object rrApp and the filename of the
specific scene that you want to open. Then, use the newScenario function to
create a new
scenario.
Create an object for the RoadRunner authoring API, rrApi, that references the object for the
current RoadRunner instance rrApp. The rrApi object enables you
to programmatically author scenes and scenarios, such as by adding and modifying roads, actors,
and logic components, using MATLAB.
Extract the scene and scenario objects from the
Scene and
Scenario properties of the authoring API object
rrApi,
respectively. The extracted
Scene object enables you to specify the scene in
which to add scene components such as roads and lanes. The extracted
Scenario (RoadRunner Scenario) object
enables you to specify the scenario in which to add scenario components such as actors and
logic.
Extract the object for your
RoadRunner project from the
Project property of the authoring API object
rrApi. The extracted
Project object enables you to
specify the project folder for the current
RoadRunner session from which to retrieve asset objects. You can use the asset objects to
assign assets to roads in your scene, or to actors in your
scenario.
Extract ActorAcionPhase Object from Actor Initial
Phase
Add a Vehicle actor to the
scenario. Use the getAsset function to
extract a VehicleAsset object, mySedan, that represents
the Sedan.fbx asset in the project prj. Then, use the
addActor function,
specifying the scenario object scnro, the asset object, and the location at
which to place the actor. Place the vehicle actor car at the world origin,
specified as [0 0 0].
If you do not know the exact coordinates
at which you want to place the actor, you can relocate the actor based on an existing point or
anchor. For example, you can use
findSceneAnchor to reference an existing
anchor in the scene, then use
anchorToPoint to relocate the actor from its
current location to the location specified by the referenced anchor. For more information, see
findSceneAnchor and
anchorToPoint.
Extract the
phase logic in your
RoadRunner scenario from the
PhaseLogic property of your scenario object
scnro. By default,
RoadRunner Scenario creates an initial phase in the scenario logic for each actor added to a scenario.
Use the
initialPhaseForActor
function to extract the object for the initial phase of the actor
car. You
can use the initial phase object
initPhase to modify the properties of the
initial phase or specify subsequent logic
phases.
Run the simulation by using the simulateScenario function. If
you do not specify additional logic phases to alter actor behavior, the actor performs
the default lane following behavior.
