sim3d.person.Bicyclist

Create bicyclist that follows ground in 3D environment

Since R2024b

Description

Use the sim3d.person.Bicyclist object to create a bicyclist that follows ground in the 3D environment. After you create a sim3d.person.Bicyclist object, you can modify aspects of the bicyclist actor by setting property values.

Creation

Syntax

person = sim3d.person.Bicyclist()

person = sim3d.person.Bicyclist(Name=Value)

Description

person = sim3d.person.Bicyclist() creates a default bicyclist object in the 3D environment.

person = sim3d.person.Bicyclist(Name=Value) specifies options using one or more name-value arguments. For example, to create a bicyclist at the position [1 2 0], set Translation to [1 2 0; 0 0 0; 0 0 0].

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.

Example: person = sim3d.person.Bicyclist(ActorName="Bicyclist",Translation=[2 0 0; 0 0 0; 0 0 0],Rotation=[0 0 0; 0 0 0; 0 0 pi/2])

ActorName — Name of actor

autogenerated name (default) | character array | string

Name of actor, specified as a character array or string. If you do not specify an actor name, then the software assigns the actor an autogenerated name. Use this argument to set the name of the sim3d.person.Bicyclist object.

Note

If you specify the same name as an actor that already exists, then the software appends actor name you specify with a unique identifier.

ActorClassId — Semantic segmentation map of object class identifiers

61 (default) | real positive scalar

Semantic segmentation map of object class identifiers, specified as real positive scalar. For a complete list of actor IDs and their corresponding object descriptions, see Labels.

CoordinateSystem — Coordinate system for actor transformation

'Default' (default) | 'MATLAB' | 'ISO8855' | 'AERO' | 'VRML' | 'SAE'

Since R2025a

Coordinate system that the actor uses for translation and rotation in the 3D environment, specified as one of these listed values:

• 'Default' – World coordinate system

• 'MATLAB' – MATLAB^® coordinate system

• 'ISO8855' – ISO 8855 standard coordinate system

• 'AERO' – SAE coordinate system

• 'VRML' – X3D ISO standard coordinate system

• 'SAE' – SAE coordinate system

For more details on the different coordinate systems, see Coordinate Systems in Simulink 3D Animation.

Data Types: string

Translation — Relative translation

[0 0 0; 0 0 0; 0 0 0] (default) | real 3-by-3 array

Relative translation of bicycle and wheels, specified as real 3-by-3 array, in m. Use this argument to set the initial translation of the bicyclist. The CoordinateSystem value specifies how Translation is applied.

• Translation(1,1), Translation(1,2), and Translation(1,3) — Bicycle translation relative to its parent actor about the X-, Y-, and Z- axes. When you add an actor to the 3D environment, the default parent actor is the Scene Origin at (0,0,0).

• Translation(...,1), Translation(...,2), and Translation(...,3) — Wheel translation relative to bicycle, about the X-, Y-, and Z- axes.

The signal contains translation information according to the bicycle and wheel locations.

$$Translation=\left[\begin{array}{ccc}{X}_B& Y_B& Z_B\\ X_F& Y_F& Z_F\\ X_R& Y_R& Z_R\end{array}\right]$$

Translation	Array Element	Translation Axis
Bicycle, XB	Translation(1,1)	X-axis
Bicycle, YB	Translation(1,2)	Y-axis
Bicycle, ZB	Translation(1,3)	Z-axis
Front wheel, XF	Translation(2,1)	X-axis
Front wheel, YF	Translation(2,2)	Y-axis
Front wheel, ZF	Translation(2,3)	Z-axis
Rear wheel, XR	Translation(3,1)	X-axis
Rear wheel, YR	Translation(3,2)	Y-axis
Rear wheel, ZR	Translation(3,3)	Z-axis

Note

The sim3d.person.Bicyclist object implements an actor that follows the ground. Use X, Y, and Yaw properties to move the actor in the 3D environment. The actor object then determines the corresponding elevation, pitch, and roll by sensing the ground terrain.

Data Types: double

Rotation — Relative rotation

[0 0 0; 0 0 0; 0 0 0] (default) | real 3-by-3 array

Relative rotation of bicycle and wheels, specified as real 3-by-3 array, in rad. Use this argument to set the initial rotation of the bicyclist. The CoordinateSystem value specifies how Rotation is applied.

• Rotation(1,1), Rotation(1,2), and Rotation(1,3) — Bicycle rotation relative to its parent actor about the X-, Y-, and Z- axes.

• Rotation(...,1), Rotation(...,2), and Rotation(...,3) — Wheel rotation relative to bicycle, about the X-, Y-, and Z- axes.

The signal contains rotation information according to the bicycle and wheel locations.

$$Rotation=\left[\begin{array}{ccc}Rol{l}_B& Pitc{h}_B& Ya{w}_B\\ Rol{l}_F& Pitc{h}_F& Ya{w}_F\\ Rol{l}_R& Pitc{h}_R& Ya{w}_R\end{array}\right]$$

Rotation	Array Element	Rotation Axis
Bicycle, RollB	Rotation(1,1)	X-axis
Bicycle, PitchB	Rotation(1,2)	Y-axis
Bicycle, YawB	Rotation(1,3)	Z-axis
Front wheel, RollF	Rotation(2,1)	X-axis
Front wheel, PitchF	Rotation(2,2)	Y-axis
Front wheel, YawF	Rotation(2,3)	Z-axis
Rear wheel, RollR	Rotation(3,1)	X-axis
Rear wheel, PitchR	Rotation(3,2)	Y-axis
Rear wheel, YawR	Rotation(3,3)	Z-axis

Note

The sim3d.person.Bicyclist object implements an actor that follows the ground. Use X, Y, and Yaw properties to move the actor in the 3D environment. The actor object then determines the corresponding elevation, pitch, and roll by sensing the ground terrain.

Data Types: double

Output Arguments

person — Actor object

sim3d.person.Bicyclist object

Actor object, returned as a sim3d.person.Bicyclist object.

Properties

All the properties are run-time configurable.

Parent — Parent of actor

handle to parent actor object

Parent of actor, specified as a handle to the parent actor object. After you add an actor to the sim3d.World object, the default parent actor is the Scene Origin at (0,0,0). Use this property to set any actor in the 3D environment as the parent actor of a sim3d.person.Bicyclist object.

Children — Children of actor

Read-only: structure

This property is read-only.

Children of actor, specified as a structure. Each field of the structure contains a handle to the child of a sim3d.person.Bicyclist object.

ParentWorld — Parent world

handle to parent world object

Parent world, specified as a handle to the parent sim3d.World object. You can use this property only if the sim3d.person.Bicyclist object is added to the parent sim3d.World object.

CoordinateSystem — Coordinate system for actor transformation

'Default' (default) | 'MATLAB' | 'ISO8855' | 'AERO' | 'VRML' | 'SAE'

Since R2025a

Coordinate system that the actor uses for translation and rotation in the 3D environment, specified as one of these listed values:

• 'Default' – World coordinate system

• 'MATLAB' – MATLAB coordinate system

• 'ISO8855' – ISO 8855 standard coordinate system

• 'AERO' – SAE coordinate system

• 'VRML' – X3D ISO standard coordinate system

• 'SAE' – SAE coordinate system

For more details on the different coordinate systems, see Coordinate Systems in Simulink 3D Animation.

Data Types: string

X — Longitudinal position of actor

0 (default) | scalar

Longitudinal position of the actor along the X-axis of the scene, specified as scalar, in m. Use this property to move the actor along the X-axis of the scene. The CoordinateSystem value specifies how X is applied.

Y — Lateral position of actor

0 (default) | scalar

Lateral position of the actor along the Y-axis of the scene, specified as scalar, in m. Use this property to move the actor along the Y-axis of the scene. The CoordinateSystem value specifies how Y is applied.

Yaw — Yaw orientation angle of actor

0 (default) | scalar

Yaw orientation angle of the actor along the Z-axis of the scene, specified as scalar, in rad. Use this property to rotate the actor along the Z-axis of the scene. The CoordinateSystem value specifies how Yaw is applied.

Examples

Create Bicyclist

Since R2025a

Create a bicyclist in a 3D environment using the sim3d.person.Bicyclist object.

Create a 3D environment and set up communication with the Unreal Engine simulation environment using the output function OutputImpl. The sim3d.World object can send data about the 3D environment to the Unreal Engine at each simulation step using output function. Before the Unreal Engine simulates, MATLAB calls the output function and sends data to the Unreal Engine. Then, the Unreal Engine executes at each time step and sends data to MATLAB.

If the scene is not available, install the scene as described in the Scene name parameter of the Simulation 3D Scene Configuration block and then set the Scene argument.

world = sim3d.World(Scene="Straight road",Output=@OutputImpl);

Create a bicyclist using sim3d.person.Bicyclist object and add the bicyclist to the world.

person = sim3d.person.Bicyclist( ...
    ActorName="Bicyclist",Translation=[0 3 0; 0 0 0; 0 0 0]);
add(world,person);

Run the co-simulation.

sampletime = 0.02;
stoptime = 10;
run(world,sampletime,stoptime);

Output Function

The output function sends data about the actor to the Unreal Engine environment at each simulation step. For this example, the function moves the Bicyclist along X-axis by updating the X property of the Bicyclist at each simulation step.

function OutputImpl(world)
world.Actors.Bicyclist.X = world.Actors.Bicyclist.X + 0.005;
end

Version History

Introduced in R2024b

R2025a: Set coordinate system

Set the CoordinateSystem argument and property of the sim3d.person.Bicyclist object to represent the coordinate system for actor transformation in the 3D environment.