driving.scenario.truckMesh

Mesh representation of truck in driving scenario

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Syntax

vehicleMesh = driving.scenario.truckMesh

Description

vehicleMesh = driving.scenario.truckMesh creates a mesh representation of a truck as an extendedObjectMesh object, mesh.

example

Examples

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Open Live Script

Add the prebuilt truck mesh to a driving scenario to generate a point cloud. Then, use lidarPointCloudGenerator System object™ to generate a point cloud of the truck mesh.

Create and show the prebuilt truck mesh. 

mesh = driving.scenario.truckMesh;
egoMesh = driving.scenario.carMesh;
show(mesh);

Figure contains an axes object. The axes object contains an object of type patch.

pause(1);

Create a driving scenario.

s = drivingScenario;

Add a straight road to the driving scenario. The road has one lane in each direction.

road(s,[0 0 0; 30 0 0],'Lanes',lanespec([1 1]));

Add a car as the ego vehicle and a truck as a non-ego actor.

egoVehicle = vehicle(s,'ClassID',1,'Mesh',egoMesh);
smoothTrajectory(egoVehicle,[1 -2 0; 21.3 -2 0],20);
truck = vehicle(s,'Position',[15 2 0],'Yaw',180,'ClassID',2,'Mesh',mesh);

Plot the driving scenario. Set name-value pair 'Meshes','on' to show the meshes of the actors in the plot.

plot(s,'Meshes','on');

Create a lidarPointCloudGenerator System object. Set the actor profiles of the System object to those in the driving scenario.

lidar = lidarPointCloudGenerator;
lidar.ActorProfiles = actorProfiles(s);

Generate a lidar point cloud of the driving scenario.

player = pcplayer([-20 20],[-10 10],[0 4]);
while advance(s)
 tgts = targetPoses(egoVehicle);
 rdmesh = roadMesh(egoVehicle);
 [ptCloud,isValidTime] = lidar(tgts,rdmesh,s.SimulationTime);
    if isValidTime
    view(player,ptCloud);
    end
end

Figure contains an axes object. The axes object with xlabel X (m), ylabel Y (m) contains 5 objects of type patch, line.

Figure Point Cloud Player contains an axes object. The axes object with xlabel X, ylabel Y contains an object of type scatter.

Output Arguments

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Mesh representation of truck, returned as an extendedObjectMesh object. The origin of the mesh is located at its geometric center.

You can develop your own meshes by using this prebuilt truck mesh as a starting point. At the MATLAB® command line, enter:

edit driving.scenario.truckMesh

Version History

Introduced in R2020a

See Also

Objects

Functions