importFromObjectTrack

Import track list from objectTrack object

Since R2023a

Syntax

importFromObjectTrack(trackdata,objectTrackList,posIdx,velIdx,dimIdx,orientIdx)

importFromObjectTrack(trackdata,objectTrackList,posSelector,velSelector,dimSelector,orientSelector)

importFromObjectTrack(trackdata,objectTrackList,fhandle)

Description

importFromObjectTrack(trackdata,objectTrackList,posIdx,velIdx,dimIdx,orientIdx) imports the track list from the objectTrack object objectTrackList to the actorTracklist object trackdata by using the position, velocity, dimension, and orientation index vectors for the actor.

importFromObjectTrack(trackdata,objectTrackList,posSelector,velSelector,dimSelector,orientSelector) imports the track list by the using position, velocity, dimension, and orientation selector matrices for the actor.

importFromObjectTrack(trackdata,objectTrackList,fhandle) imports the track list by using the specified function fhandle to extract actor parameters.

Note

This function requires the Scenario Builder for Automated Driving Toolbox™ support package. You can install the Scenario Builder for Automated Driving Toolbox support package from the Add-On Explorer. For more information about installing add-ons, see Get and Manage Add-Ons.

Examples

Import Track List Using Index Vectors

Initialize a track state vector for specifying the position, velocity, orientation, and dimensions of an actor in the form [x; vx; y; vy; z; vz; yaw; pitch; roll; length; width; height].

x = (1:12)';

Define a state covariance matrix.

P = diag(1:12);

Create a report of a track by using the objectTrack object.

track = objectTrack(State=x,StateCovariance=P,UpdateTime=0.1);

Define the position, velocity, orientation, and dimension indices in the track state.

posIdx = [1 3 5];
velIdx = [2 4 6];
orientIdx = [7 8 9];
dimIdx = [10 11 12];

Import the track list from the objectTrack object to the actorTracklist object.

actorTrackData = actorTracklist;
importFromObjectTrack(actorTrackData,track,posIdx,velIdx,dimIdx,orientIdx)

Display the actorTracklist object actorTrackData.

disp(actorTrackData)

  actorTracklist with properties:

         TimeStamp: 0.1000
          TrackIDs: {["1"]}
          ClassIDs: {[0]}
          Position: {[1 3 5]}
         Dimension: {[10 11 12]}
       Orientation: {[7 8 9]}
          Velocity: {[2 4 6]}
             Speed: {[7.4833]}
         StartTime: 0.1000
           EndTime: 0.1000
        NumSamples: 1
    UniqueTrackIDs: "1"

Import Track List Using Selector Matrices

Initialize a track state vector for specifying the position, velocity, orientation, and dimensions of an actor in the form [x; vx; y; vy; z; vz; yaw; pitch; roll; length; width; height].

x = (1:12)';

Define a state covariance matrix.

P = diag(1:12);

Create a report of a track by using objectTrack object.

track = objectTrack(State=x,StateCovariance=P,UpdateTime=0.1);

Define the position, velocity, orientation, and dimension selector matrices for the track state.

posSelector = [1 0 0 0 0 0 0 0 0 0 0 0
               0 0 1 0 0 0 0 0 0 0 0 0
               0 0 0 0 1 0 0 0 0 0 0 0];
velSelector = [0 1 0 0 0 0 0 0 0 0 0 0
               0 0 0 1 0 0 0 0 0 0 0 0
               0 0 0 0 0 1 0 0 0 0 0 0];
orientSelector = [0 0 0 0 0 0 1 0 0 0 0 0
                  0 0 0 0 0 0 0 1 0 0 0 0
                  0 0 0 0 0 0 0 0 1 0 0 0];
dimSelector = [0 0 0 0 0 0 0 0 0 1 0 0
               0 0 0 0 0 0 0 0 0 0 1 0
               0 0 0 0 0 0 0 0 0 0 0 1];

Import the track list from the objectTrack object to the actorTracklist object.

actorTrackData = actorTracklist;
importFromObjectTrack(actorTrackData,track,posSelector,velSelector,dimSelector,orientSelector)

Display the actorTracklist object actorTrackData.

disp(actorTrackData)

  actorTracklist with properties:

         TimeStamp: 0.1000
          TrackIDs: {["1"]}
          ClassIDs: {[0]}
          Position: {[1 3 5]}
         Dimension: {[10 11 12]}
       Orientation: {[7 8 9]}
          Velocity: {[2 4 6]}
             Speed: {[7.4833]}
         StartTime: 0.1000
           EndTime: 0.1000
        NumSamples: 1
    UniqueTrackIDs: "1"

Import Track List Using Function Handle

Initialize a track state vector for specifying the position, velocity, orientation, and dimensions of an actor in the form [x; vx; y; vy; z; vz; yaw; pitch; roll; length; width; height].

x = (1:12)';

Define a state covariance matrix.

P = diag(1:12);

Create a report of a track by using the objectTrack object.

track = objectTrack(State=x,StateCovariance=P,UpdateTime=0.1);

Import the track list from the objectTrack object to the actorTracklist object by using a function handle.

actorTrackData = actorTracklist;
importFromObjectTrack(actorTrackData,track,@extractTrackInfo)

Display the actorTracklist object actorTrackData.

disp(actorTrackData)

  actorTracklist with properties:

         TimeStamp: 0.1000
          TrackIDs: {["1"]}
          ClassIDs: {[0]}
          Position: {[1 3 5]}
         Dimension: {[10 11 12]}
       Orientation: {[7 8 9]}
          Velocity: {[2 4 6]}
             Speed: {[7.4833]}
         StartTime: 0.1000
           EndTime: 0.1000
        NumSamples: 1
    UniqueTrackIDs: "1"

Helper Function

extractTrackInfo — Extracts actor track list parameters from objectTrack object.

function [pos,vel,dim,orient] = extractTrackInfo(objTrack)
% State of the track is defined as [x; vx; y; vy; z; vz; yaw; pitch; roll; length; width; height];
% Define the position, velocity, orientation, and dimension indices in the track state.
posIndex = [1 3 5];
velIndex = [2 4 6];
orientIndex = [7 8 9];
dimIndex = [10 11 12];

pos = objTrack.State(posIndex)';
vel = objTrack.State(velIndex)';
dim = objTrack.State(dimIndex)';
orient = objTrack.State(orientIndex)';
end

Input Arguments

trackdata — Actor track list information

actorTracklist object | actorTrackData object

Actor track list information, specified as an actorTracklist object, or ActorTrackData object.

objectTrackList — Object track report

objectTrack object | array of objectTrack objects | cell array of objectTrack objects

Object track report, specified as an objectTrack object, an array of objectTrack objects, or a cell array of objectTrack objects.

fhandle — Actor parameter extraction function

function handle

Actor parameter extraction function, specified as a function handle. The function handle must have this syntax:

[pos,vel,dim,orient] = extractFunction(objTrk)

where objTrk is a scalar objectTrack object and the output arguments return these values:

• pos — Actor positions, returned as an M-by-3 matrix. M is the number of tracks. Each row represents the actor position in the form [x y z]. Units are in meters.

• vel — Actor velocities, returned as an M-by-3 matrix. M is the number of tracks. Each row represents the actor velocity in the form [v_x v_y v_z]. Units are in meters per second.

• dim — Actor dimensions, returned as an M-by-3 matrix. M is the number of tracks. Each row represents the actor dimensions in the form [length width height]. Units are in meters.

• orient — Actor orientations, returned as an M-by-3 matrix. M is the number of tracks. Each row represents the actor orientation in the form [yaw pitch roll]. Units are in degrees.

posIdx — Actor position indices

three-element row vector

Actor position indices, specified as a three-element row vector. These indices are relative to the State property of the objectTrack object objectTrackList, and represent the actor position in the form [x y z].

velIdx — Actor velocity indices

three-element row vector

Actor velocity indices, specified as a three-element row vector. These indices are relative to the State property of the objectTrack object objectTrackList, and represent the actor velocity in the form [v_x v_y v_z].

dimIdx — Actor dimension indices

three-element row vector

Actor dimension indices, specified as a three-element row vector. The function derives the dimensions of the actor from the values of the State property of the objectTrack object objectTrackList, and represents those dimensions in the form [length width height].

orientIdx — Actor orientation indices

three-element row vector

Actor orientation indices, specified as a three-element row vector. These indices are relative to the State property of the objectTrack object objectTrackList, and represent the actor orientation in the form [yaw pitch roll].

posSelector — Actor position selector

3-by-N logical matrix

Actor position selector, specified as a 3-by-N logical matrix. N is the dimension of the state specified in the State property of the objectTrack object objectTrackList. The function extracts the actor position, of the form [x y z], by multiplying the position selector matrix with the state vector of the objectTrack object.

velSelector — Actor velocity selector

3-by-N logical matrix

Actor velocity selector, specified as a 3-by-N logical matrix. N is the dimension of the state specified in the State property of the objectTrack object objectTrackList. The function extracts the actor velocity, of the form [v_x v_y v_z], by multiplying the velocity selector matrix with the state vector of the objectTrack object.

dimSelector — Actor dimensions selector

3-by-N logical matrix

Actor dimensions selector, specified as a 3-by-N logical matrix. N is the dimension of the state specified in the State property of the objectTrack object objectTrackList. The function extracts the actor dimensions, of the form [length width height], by multiplying the dimension selector matrix with the state vector of the objectTrack object.

orientSelector — Actor orientation selector

3-by-N logical matrix

Actor orientation selector, specified as a 3-by-N logical matrix. N is the dimension of the state specified in the State property of the objectTrack object objectTrackList. The function extracts the actor orientation, of the form [yaw pitch roll], by multiplying the orientation selector matrix with the state vector of the objectTrack object.

Version History

Introduced in R2023a

R2025a: Input trackdata supports ActorTrackData object

The trackdata input argument now supports the ActorTrackData object along with the previously supported actorTracklist object.