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get

Get calculations on scene elements of RoadRunner Scenario in MATLAB

Since R2024b

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    Syntax

    rayIntersection = get(scenarioServ,"RayIntersectionPoint",sourcePoint,rayDirection)

    Description

    rayIntersection = get(scenarioServ,"RayIntersectionPoint",sourcePoint,rayDirection) returns the point of intersection of a ray with the closest surface in its path. The ray starts at the point specified by the sourcePoint coordinates and travels in the direction rayDirection.

    example

    Examples

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    This example uses:

    Open Live Script

    This example workflow assumes that:

    • You have a RoadRunner license, and the product is installed.

    • You have a RoadRunner Scenario license, and the product is installed.

    Create a roadrunner object to launch the RoadRunner application, which then connects to the project folder at the specified path for use. For example:

    rrApp = roadrunner("C:\ScenarioServices_proj");

    Open the scenario file LaneChangeInterruptsSwerve.rrscenario that is included with the RoadRunner Scenario application.

    openScenario(rrApp,"LaneChangeInterruptsSwerve");

    Connect to the RoadRunner Scenario server to enable cosimulation by creating a ScenarioSimulation object named scenarioSim.

    scenarioSim = createSimulation(rrApp);

    Get a ScenarioServices object named scenarioServ by using the scenarioSim object.

    scenarioServ = get(scenarioSim,"ScenarioServices");

    Initialize the source and direction of travel of a ray. The source is a set of x, y, and z coordinates that denote the point of origin of the ray. The direction is a 1-by-3 vector that indicates the path of the ray.

    sourcePoint = [1 2 3];
rayDirection = [0 0 -1];

    Start the simulation. 

    set(scenarioSim,"SimulationCommand","Start");

    Determine the point of intersection of the ray with the closest surface in its direction of travel.

    intersection_pt = get(scenarioServ,"RayIntersectionPoint",...
                  sourcePoint,rayDirection);

    Input Arguments

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    ScenarioServices object that corresponds to the RoadRunner scene or scenario in which you want to calculate point of intersection of a ray with the closest surface in its direction of travel, specified as a ScenarioServices object.

    Example: scenarioServ

    Point of origin of a ray, specified as a 1-by-3 or 3-by-1 double array.

    Example: [4 -9 5]

    Direction of travel of a ray, specified as a 1-by-3 or 3-by-1 double array.

    Example: [0 0 1]

    Output Arguments

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    Point of intersection of a ray with the closest surface in its direction of travel, returned as a double array.

    Example: [1.0000 2.0000 1.0000]

    Version History

    Introduced in R2024b

    See Also

    Objects

    Functions