How to return the trajectory generated from the waypoints using `smoothtrajectory`

I have a drivingscenario defined as provided in the example and I spawn two vehicles in an intersection. I have given waypoints for them to drive and called the smoothtrajectory function to create the trajectory from the waypoints using speed, yaw and jerk limits. However, it does not return the generated trajectory. I cant find the trajectory in the scenario.Actors as well. So I am not sure how to return the trajectory generated. Can somebody please point to the generated trajectory? Thanks

Answer 1

[Divyajyoti Nayak]

Hi @Arpan,

I'm assuming that you want the co-ordinates of the trajectory generated by the 'smoothtrajectory' function. Although I couldn't find a direct way to get the data from the 'drivingscenario' object or the 'vehicle' object, I was able to extract the data from the figure created by plotting the scenario. Here's some sample code to show this:

%Example scenario
scenario = drivingScenario('SampleTime',0.05);
roadcenters = [0 0; 24.2 27.7; 50 30];
lspec = lanespec(2);
road(scenario,roadcenters,'Lanes',lspec);

v = vehicle(scenario,'ClassID',1);
waypoints = [2.6 1.0; 23.6 24.9; 45.5 28.6];
speed = [9 8 9];
smoothTrajectory(v,waypoints,speed)

%Plotting the scenario
plot(scenario,'Waypoints','on','RoadCenters','on');

a = gca; %getting current axis
a.Children %Getting all the graphics plotted on the axes

ans = 
  7x1 graphics array:

  Line     (WaylineActor1)
  Line     (WaypointActor1)
  Patch    (ActorPatch1)
  Line     (RoadCenters)
  Line     (RoadBoundary1)
  Patch    (LaneMarkingPatch)
  Patch    (RoadTilesPatch)

The 'Line' object called 'WaylineActor1' is the generated trajectory.

%Extracting coordinates from the 'Line' object
a.Children(1)

ans = 
  Line (WaylineActor1) with properties:

              Color: [0 0.4470 0.7410]
          LineStyle: '-'
          LineWidth: 0.5000
             Marker: 'none'
         MarkerSize: 6
    MarkerFaceColor: 'none'
              XData: [2.6000 2.6157 2.6266 2.6423 2.6531 2.6688 2.6797 2.6954 2.7062 2.7219 2.7328 2.7485 2.7594 2.7750 2.7859 2.8016 2.8125 2.8282 2.8390 ... ] (1x2049 double)
              YData: [1 1.0274 1.0464 1.0738 1.0927 1.1201 1.1391 1.1665 1.1855 1.2129 1.2319 1.2593 1.2782 1.3056 1.3246 1.3520 1.3710 1.3984 1.4173 1.4447 ... ] (1x2049 double)
              ZData: [0.0020 0.0020 0.0020 0.0020 0.0020 0.0020 0.0020 0.0020 0.0020 0.0020 0.0020 0.0020 0.0020 0.0020 0.0020 0.0020 0.0020 0.0020 0.0020 ... ] (1x2049 double)

  Use GET to show all properties

xData = a.Children(1).XData

xData = 1×2049

2.6000 2.6157 2.6266 2.6423 2.6531 2.6688 2.6797 2.6954 2.7062 2.7219 2.7328 2.7485 2.7594 2.7750 2.7859 2.8016 2.8125 2.8282 2.8390 2.8547 2.8656 2.8813 2.8922 2.9079 2.9187 2.9344 2.9453 2.9610 2.9719 2.9876

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yData = a.Children(1).YData

yData = 1×2049

1.0000 1.0274 1.0464 1.0738 1.0927 1.1201 1.1391 1.1665 1.1855 1.2129 1.2319 1.2593 1.2782 1.3056 1.3246 1.3520 1.3710 1.3984 1.4173 1.4447 1.4637 1.4911 1.5101 1.5375 1.5564 1.5838 1.6028 1.6302 1.6492 1.6766

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Hope this helps!