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Path plotter for bird's-eye plot



pPlotter = pathPlotter(bep) creates a PathPlotter object that configures the display of actor paths on a bird's-eye plot. The PathPlotter object is stored in the Plotters property of the input birdsEyePlot object, bep. To display the paths, use the plotPath function.

pPlotter = pathPlotter(bep,Name,Value) sets properties using one or more Name,Value pair arguments. For example, pathPlotter(bep,'DisplayName','Actor paths') sets the display name that appears in the bird's-eye-plot legend.


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Create a 3-meter-wide lane.

lb = parabolicLaneBoundary([-0.001,0.01,1.5]);
rb = parabolicLaneBoundary([-0.001,0.01,-1.5]);

Compute the lane boundary model manually from 0 to 30 meters along the x-axis.

xWorld = (0:30)';
yLeft = computeBoundaryModel(lb,xWorld);
yRight = computeBoundaryModel(rb,xWorld);

Create a bird's-eye plot and lane boundary plotter. Display the lane information on the bird's-eye plot.

bep = birdsEyePlot('XLimits',[0 30],'YLimits',[-5 5]);
lanePlotter = laneBoundaryPlotter(bep,'DisplayName','Lane boundaries');

Figure contains an axes. The axes contains an object of type line. This object represents Lane boundaries.

Create a path plotter. Create and display the path of an ego vehicle that travels through the center of the lane.

yCenter = (yLeft + yRight)/2;
egoPathPlotter = pathPlotter(bep,'DisplayName','Ego vehicle path');

Figure contains an axes. The axes contains 2 objects of type line. These objects represent Lane boundaries, Ego vehicle path.

Input Arguments

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Bird’s-eye plot, specified as a birdsEyePlot object.

Name-Value Pair Arguments

Specify optional comma-separated pairs of Name,Value arguments. Name is the argument name and Value is the corresponding value. Name must appear inside quotes. You can specify several name and value pair arguments in any order as Name1,Value1,...,NameN,ValueN.

Example: pathPlotter('Color','red') sets the color of the path to red.

Plotter name to display in legend, specified as the comma-separated pair consisting of 'DisplayName' and character vector or string scalar. If you do not specify a name, the bird's-eye plot does not display a legend entry for the plotter.

Path color, specified as the comma-separated pair consisting of 'Color' and an RGB triplet, a hexadecimal color code, a color name, or a short color name.

For a custom color, specify an RGB triplet or a hexadecimal color code.

  • An RGB triplet is a three-element row vector whose elements specify the intensities of the red, green, and blue components of the color. The intensities must be in the range [0,1]; for example, [0.4 0.6 0.7].

  • A hexadecimal color code is a character vector or a string scalar that starts with a hash symbol (#) followed by three or six hexadecimal digits, which can range from 0 to F. The values are not case sensitive. Thus, the color codes '#FF8800', '#ff8800', '#F80', and '#f80' are equivalent.

Alternatively, you can specify some common colors by name. This table lists the named color options, the equivalent RGB triplets, and hexadecimal color codes.

Color NameShort NameRGB TripletHexadecimal Color CodeAppearance
'red''r'[1 0 0]'#FF0000'

'green''g'[0 1 0]'#00FF00'

'blue''b'[0 0 1]'#0000FF'

'cyan' 'c'[0 1 1]'#00FFFF'

'magenta''m'[1 0 1]'#FF00FF'

'yellow''y'[1 1 0]'#FFFF00'

'black''k'[0 0 0]'#000000'

'white''w'[1 1 1]'#FFFFFF'

'none'Not applicableNot applicableNot applicableNo color

Here are the RGB triplets and hexadecimal color codes for the default colors MATLAB® uses in many types of plots.

RGB TripletHexadecimal Color CodeAppearance
[0 0.4470 0.7410]'#0072BD'

[0.8500 0.3250 0.0980]'#D95319'

[0.9290 0.6940 0.1250]'#EDB120'

[0.4940 0.1840 0.5560]'#7E2F8E'

[0.4660 0.6740 0.1880]'#77AC30'

[0.3010 0.7450 0.9330]'#4DBEEE'

[0.6350 0.0780 0.1840]'#A2142F'

Path line style, specified as the comma-separated pair consisting of 'LineStyle' and one of the options listed in this table.

Line StyleDescriptionResulting Line
'-'Solid line

'--'Dashed line

':'Dotted line

'-.'Dash-dotted line

'none'No lineNo line

Tag associated with the plotter object, specified as the comma-separated pair consisting of 'Tag' and a character vector or string scalar. The default value is 'PlotterN', where N is an integer that corresponds to the Nth plotter associated with the input birdsEyePlot object.

Output Arguments

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Path plotter, returned as a PathPlotter object. You can modify this object by changing its property values. The property names correspond to the name-value pair arguments of the pathPlotter function.

pPlotter is stored in the Plotters property of the input birdsEyePlot object, bep. To plot the paths, use the plotPath function.

Introduced in R2017a