pathPlotter

Path plotter for bird's-eye plot

Syntax

pPlotter = pathPlotter(bep)

pPlotter = pathPlotter(bep,Name,Value)

Description

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.

Examples

Plot Path of Ego Vehicle

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');
plotLaneBoundary(lanePlotter,{[xWorld,yLeft],[xWorld,yRight]});

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');
plotPath(egoPathPlotter,{[xWorld,yCenter]});

Input Arguments

bep — Bird’s-eye plot

birdsEyePlot object

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

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Before R2021a, use commas to separate each name and value, and enclose Name in quotes.

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

DisplayName — Plotter name to display in legend

'' (default) | character vector | string scalar

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.

Color — Path color

[0 0 0] (black) (default) | RGB triplet | hexadecimal color code | color name | short color name

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 string scalar or character vector 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. Therefore, 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 the hexadecimal color codes.

Color Name	Short Name	RGB Triplet	Hexadecimal Color Code	Appearance
"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 applicable	Not applicable	Not applicable	No color

This table lists the default color palettes for plots in the light and dark themes.

Palette	Palette Colors
"gem" — Light theme default Before R2025a: Most plots use these colors by default.
"glow" — Dark theme default

You can get the RGB triplets and hexadecimal color codes for these palettes using the orderedcolors and rgb2hex functions. For example, get the RGB triplets for the "gem" palette and convert them to hexadecimal color codes.

RGB = orderedcolors("gem");
H = rgb2hex(RGB);

Before R2023b: Get the RGB triplets using RGB = get(groot,"FactoryAxesColorOrder").

Before R2024a: Get the hexadecimal color codes using H = compose("#%02X%02X%02X",round(RGB*255)).

LineStyle — Path line style

':' (default) | '-' | '--' | '-.' | 'none'

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

Line Style	Description	Resulting Line
"-"	Solid line
"--"	Dashed line
":"	Dotted line
"-."	Dash-dotted line
"none"	No line	No line

Tag — Tag associated with plotter object

'PlotterN' (default) | character vector | string scalar

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

pPlotter — Path plotter

PathPlotter object

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.

Version History

Introduced in R2017a