getAttribute

Get runtime attribute of actor

Syntax

runtimeAttr = getAttribute(actorSim,'RuntimeAttrName')

Description

runtimeAttr = getAttribute(actorSim,'RuntimeAttrName') returns the specified runtime attribute of the Simulink.ActorSimulation object actorSim. When you use this function inside the stepImpl method of MATLAB^® System object™, the function returns the states from the previous time step except the actor ID.

Examples

Get Runtime Attributes of Actor

Create a Simulink.ScenarioSimulation object for a scenario with multiple actors.

rrApp = roadrunner('C:\Project\TestHighwayRoute'); 
openScenario(rrApp,'myScenario1'); 
sim = createSimulation(rrApp);

Start the simulation.

set(sim,'SimulationCommand','Start');

Pause the simulation.

set(sim,'SimulationCommand','Pause');

Get all actors from the simulation.

actorsim = get(sim, 'ActorSimulation'); 

Get the first two actors from the list.

one = actorsim(1);
two = actorsim(2);

Get the ID of the first actor.

id = getAttribute(one,'ID')

id =

  uint64

   1

Get the pose of the first actor.

pose = getAttribute(one,'Pose')

pose =

    0.1096    0.9940   -0.0000  -28.1452
   -0.9940    0.1096    0.0000   -3.2291
    0.0000    0.0000    1.0000   -0.0000
         0         0         0    1.0000

Get the velocity of the second actor.

velocity = getAttribute(two,'Velocity')

velocity =

    6.9507    2.8702    0.0000

Get the angular velocity of the first actor.

angvelocity = getAttribute(two,'AngularVelocity') 

angvelocity =

     0     0.23     0

Get the wheel poses of the second actor.

wheelposes = getAttribute(two,'WheelPoses')

wheelposes = getAttribute(two,'WheelPoses')
wheelposes(:,:,1) =

    0.9972   -0.0671   -0.0330   -0.5672
   -0.0747   -0.8946   -0.4405    1.3838
         0    0.4417   -0.8971    0.3441
         0         0         0    1.0000


wheelposes(:,:,2) =

    0.9974   -0.0650   -0.0320    0.5672
   -0.0725   -0.8948   -0.4406    1.3838
         0    0.4417   -0.8971    0.3441
         0         0         0    1.0000


wheelposes(:,:,3) =

    1.0000         0         0   -0.5672
         0   -0.8971   -0.4417   -1.3295
         0    0.4417   -0.8971    0.3441
         0         0         0    1.0000


wheelposes(:,:,4) =

    1.0000         0         0    0.5672
         0   -0.8971   -0.4417   -1.3295
         0    0.4417   -0.8971    0.3441
         0         0         0    1.0000

Get the map location of the first actor.

ml = getAttribute(one,'MapLocation')

ml = 

  struct with fields:

          IsOnLane: 1
    LocationOnLane: [1×1 struct]

ml.IsOnLane

ans =

  logical

   1

ml.LocationOnLane

ans = 

  struct with fields:

      LaneID: '{7c2e895c-6b90-4892-aa6e-9ed116db53b5}'
    Position: 0.5359
       Angle: 0.0014

Input Arguments

actorSim — Actor

Simulink.ActorSimulation object

Actor from which to return runtime attribute, specified as a Simulink.ActorSimulation object.

Example: actorSim

RuntimeAttrName — Name of runtime attribute

ID | Pose | Velocity | AngularVelocity | WheelPoses | MapLocation | Children | Parent

Name of runtime attribute to be retrieved, specified as one of these strings.

• ID

• Pose

• Velocity

• AngularVelocity

• WheelPoses

• MapLocation

• Children

• Parent

Output Arguments

runtimeAttr — Runtime attribute of actor

uint64 | double | struct

Runtime attribute of actor, returned as data type corresponding to input argument RuntimeAttrName.

Runtime Attribute	Description
ID	Actor identifier, returned as a uint64.
Pose	Position and orientation of actor in the RoadRunner Scenario coordinate system, returned as a 4-by-4 array.
Velocity	Velocity of actor in the x-, y-and z- directions, returned as a 1-by-3 vector. Units are in meters per second.
AngularVelocity	Angular velocity of actor in the x-, y-and z- directions, returned as a 1-by-3 vector. Units are in radians per second.
WheelPoses	Runtime pose of each wheel of vehicle-type actor, returned as a multidimensional 4-by-4-by-N array. N is the number of wheels of the vehicle-type actor. WheelPoses is returned for wheels starting on the leftmost side of the front axle, and moving to the right. After the first axle is complete, the leftmost wheel on the second axle is taken into consideration before moving to the right, and so on.
MapLocation	Location of vehicle-type actor with respect to its closest lane, returned as a struct.
Children	Immediate children of specified actor, if any, returned as an array of Simulink.ActorSimulation objects. If the specified actor does not have any child actors, then an empty array is returned.
Parent	Immediate parent of specified actor, returned as an Simulink.ActorSimulation object. If the specified actor itself is a parent, then the Simulink.ActorSimulation object corresponding to the world actor is returned.

This table describes the fields of the MapLocation structure.

Field Name	Description
IsOnLane	Boolean value indicating if the vehicle is located on a lane. A vehicle is considered to be on a certain lane if its model origin lies in between the left and right boundaries of this lane.
LocationOnLane	Current lane of vehicle, returned as a struct. If a vehicle straddles several lanes, the most aligned lane is returned.

The table describes the fields of the LocationOnLane structure of the MapLocation structure.

Field Name	Description
LaneID	UUID identifier of the most aligned lane, returned as a string.
Position	Position of the vehicle on the lane-center polyline (in s-value). The s-value is a double value within [0, 1] that indicates a position on a 3-D polyline with 0 at the start and 1 at the end of the polyline.
Angle	Angle between the vehicle travel direction and tangent at the lane position. Units are in radians.

Version History

Introduced in R2022a