read

Read recorded data

Syntax

[simTime,poses,coverageConfigs,detections,sensorConfigs,sensorPlatformIDs,emissions,emitterConfigs,emitterPlatformIDs] = read(TSR)

Description

[simTime,poses,coverageConfigs,detections,sensorConfigs,sensorPlatformIDs,emissions,emitterConfigs,emitterPlatformIDs] = read(TSR) returns one recorded dataset at the simulation time, simTime, from a tracking scenario recording TSR.

Examples

Run Recorded Scenario

Load recorded data from a prerecorded scenario called recordedScenario. Construct a trackingScenarioRecording object using the recorded data.

load recordedData
recording = trackingScenarioRecording(recordedData);

Construct a theater plot to display the recorded data using multiple plotters.

tp = theaterPlot('AxesUnits', ["km" "km" "km"], 'XLimits',[-50 50]*1e3,...
    'YLimits',[-50 50]*1e3,'ZLimits', [-20 20]*1e3);
to = platformPlotter(tp,'DisplayName','Tower','Marker','d');
pp = platformPlotter(tp,'DisplayName','Targets');
dp = detectionPlotter(tp,'DisplayName','Detections','MarkerFaceColor','black');
cp = coveragePlotter(tp,'DisplayName','Radar Beam');

coverage = struct('Index',1,'LookAngle',[0;-7],'FieldOfView',[1;10],...
    'ScanLimits',[0 365;-12 -2],'Range',100e3,'Position',[0;0;-15],...
    'Orientation',eye(3));

Run the recorded scenario and animate the results.

scanBuffer = {};
while ~isDone(recording)
    % Step the reader to read the next frame of data
    [simTime,poses,covcon,dets,senconfig] = read(recording);
    scanBuffer = [scanBuffer;dets]; %#ok<AGROW>
    plotPlatform(to,poses(1).Position);
    plotPlatform(pp,reshape([poses(2:4).Position]',3,[])');
    plotCoverage(cp,covcon);
    if ~isempty(dets)
        plotDetection(dp,cell2mat(cellfun(@(c) c.Measurement(:)', scanBuffer, 'UniformOutput', false)));
    end
    
    % Clear the buffer when a 360 degree scan is complete
    if senconfig.IsScanDone
        scanBuffer = {};
        dp.clearData;
    end
end

Reset the recording to its beginning.

reset(recording)

Input Arguments

TSR — Tracking scenario recording

trackingScenarioRecording object

Tracking scenario recording, specified as a trackingScenarioRecording object.

Output Arguments

simTime — Simulation time

nonnegative scalar

Simulation time, returned as a nonnegative scalar.

poses — Poses of platforms

array of structures

Poses of platforms, returned as an array of structures. The fields of each structure are:

Field	Description
PlatformID	Unique identifier for the platform, specified as a positive integer. This is a required field with no default value.
ClassID	User-defined integer used to classify the type of target, specified as a nonnegative integer. Zero is reserved for unclassified platform types and is the default value.
Position	Position of platform in scenario coordinates, specified as a real-valued 1-by-3 row vector. If the coordinateSystem argument is specified as 'Cartesian', the Position is the 3-element Cartesian position coordinates in meters. If the coordinateSystem argument is specified as 'Geodetic', the Position is the 3-element geodetic coordinates: latitude in degrees, longitude in degrees, and altitude in meters.
Velocity	Velocity of platform in scenario coordinates, specified as a real-valued 1-by-3 row vector. Units are meters per second. The default value is [0 0 0].
Acceleration	Acceleration of the platform in scenario coordinates, specified as a 1-by-3 row vector in meters per second squared. The default value is [0 0 0].
Orientation	Orientation of the platform with respect to the local scenario navigation frame, specified as a scalar quaternion or a 3-by-3 rotation matrix. Orientation defines the frame rotation from the scenario navigation coordinate system to the current platform body coordinate system. Units are dimensionless. The default value is quaternion(1,0,0,0) or a 3-by-3 identity matrix.
AngularVelocity	Angular velocity of the platform in scenario coordinates, specified as a real-valued 1-by-3 vector. The magnitude of the vector defines the angular speed. The direction defines the axis of clockwise rotation. Units are radians per second. The default value is [0 0 0].

coverageConfigs — Sensor coverage configurations

array of structures

Sensor coverage configurations, returned as an array of structures. The fields of each structure are:

Fields of configurations

Field	Description
Index	A unique integer to identify sensors or emitters.
LookAngle	Current boresight angles of the sensor or emitter, specified as: A scalar in degrees if scanning only in the azimuth direction. A two-element vector [azimuth; elevation] in degrees if scanning in both the azimuth and elevation directions.
FieldOfView	Field of view of the sensor or emitter, specified as a two-element vector [azimuth; elevation] in degrees.
ScanLimits	Minimum and maximum angles the sensor or emitter can scan from its Orientation. If the sensor or emitter can only scan in the azimuth direction, specify the limits as a 1-by-2 row vector [minAz, maxAz] in degrees. If the sensor or emitter can also scan in the elevation direction, specify the limits as a 2-by-2 matrix [minAz, maxAz; minEl, maxEl] in degrees.
Range	Range of the beam and coverage area of the sensor or emitter in meters.
Position	Origin position of the sensor or emitter, specified as a three-element vector [X, Y, Z].
Orientation	Rotation transformation from the scenario or global frame to the sensor or emitter mounting frame, specified as a rotation matrix, a quaternion, or three Euler angles in ZYX sequence.

detections — Detections

cell array of objectDetection objects

Detections, returned as a cell array of objectDetection objects.

sensorConfigs — Sensor configurations

array of structures

Sensor configurations, returned as an array of structures. The fields of each structure are:

Field	Description
SensorIndex	Unique sensor index, returned as a positive integer.
IsValidTime	Valid detection time, returned as true or false. IsValidTime is false when detection updates are requested between update intervals specified by the update rate.
IsScanDone	IsScanDone is true when the sensor has completed a scan.
RangeLimits	Lower and upper range detection limits, returned as a two-element real-valued vector in meters.
RangeRateLimits	Lower and upper range-rate detection limits, returned as a two-element real-valued vector in m/s.
FieldOfView	Field of view of the sensor, returned as a 2-by-1 vector of positive real values, [azfov;elfov]. azfov and elfov represent the field of view in azimuth and elevation, respectively.
MeasurementParameters	Sensor measurement parameters, returned as an array of structures containing the coordinate frame transforms needed to transform positions and velocities in the top-level frame to the current sensor looking-angle frame.

sensorPlatformIDs — Platform IDs of sensors

array of nonnegative integers

Platform IDs of sensors, returned as an array of nonnegative integers.

emissions — Emissions

cell array of radarEmission or sonarEmission objects

Emissions, returned as a cell array of radarEmission or sonarEmission objects.

emitterConfigs — Emitter configurations

array of structures

Emitter configurations, returned as an array of structures. The fields of each structure are:

Field	Description
EmitterIndex	Unique emitter index, returned as a positive integer.
IsValidTime	Valid emission time, returned as 0 or 1. IsValidTime is 0 when emitter updates are requested at times that are between update intervals specified by the UpdateInterval property.
IsScanDone	Whether the emitter has completed a scan, returned as true or false.
FieldOfView	Field of view of the emitter, returned as a two-element vector [azimuth; elevation] in degrees.
MeasurementParameters	Emitter measurement parameters, returned as an array of structures containing the coordinate frame transforms needed to transform positions and velocities in the top-level frame to the current emitter looking-angle frame.

emitterPlatformIDs — Platform IDs of emitters

array of nonnegative integers

Platform IDs of emitters, returned as an array of nonnegative integers.

Version History

Introduced in R2020a