setRadius

Create a new RoadRunner scene in the current project by using the newScene function, specifying the roadrunner object rrApp.

newScene(rrApp);

Create a RoadRunner authoring API object, rrAPI, that references the object for the current RoadRunner instance rrApp. The rrApi object enables you to programmatically author scenes, such as by adding and modifying road and lane components, using MATLAB.

rrApi = roadrunnerAPI(rrApp);

Extract the object for your scene from the Scene property of the authoring API object rrApi. The extracted Scene object enables you to specify the scene in which to add scene components, such as roads and lanes.

scn = rrApi.Scene

Use the addSegmentedRoad function to add a segmented curve type road to the scene. Specify the starting point of the road as a control point. Next, indicate the forward direction of the road by specifying a second control point. You must specify the positions of these control points along the X- and Y- axes of the RoadRunner local coordinate system.

startPoint1 = [0 42];
startRoadDirection1 = [0 -1];
rrRoad1 = addSegmentedRoad(scn,startPoint1,startRoadDirection1);

Extract the horizontal curve of the segmented road. Then, use the addLine function to create a line segment and add it to the horizontal curve.

segmentedCurve1 = rrRoad1.HorizontalCurve;
addLine(segmentedCurve1,35);

Extract the reference lane of the road from the ReferenceLane property of the road object rrRoad1. The reference lane defines the center lane, or reference line, of a road in a RoadRunner scene. This lane has no width and serves as the basis for positioning all other lanes, which RoadRunner arranges outward from the reference line.

refLane1 = rrRoad1.ReferenceLane;

Use the extracted refLane1 object to add lane on the left side of the reference lane of the road using the addLaneToLeft function. Then, use the LaneType and TravelDirection properties of the added lane to specify the type and travel direction, respectively. Add a driving lane to the left of the horizontal road with a backward travel direction.

horizontalLane1 = addLaneToLeft(refLane1);
horizontalLane1.LaneType = "driving";
horizontalLane1.TravelDirection = "backward";

Configure the width profile for the left lane by specifying the WidthProfile property of the lane. Specify the width of the lane.

horizontalLane1WidthProfile = horizontalLane1.WidthProfile;
startNode1 = horizontalLane1WidthProfile.Nodes(1);
startNode1.EndWidth = 3.5;
endNode1 = horizontalLane1WidthProfile.Nodes(end);
endNode1.StartWidth = 3.5;

Use the extracted refLane1 object to add another lane on the right side of the reference lane of the road using the addLaneToRight function. Then, use the LaneType and TravelDirection properties of the lane to specify the type and travel direction, respectively. Add a driving lane to the right of the horizontal road with a forward travel direction.

horizontalLane2 = addLaneToRight(refLane1);
horizontalLane2.LaneType = "driving";
horizontalLane2.TravelDirection = "forward";

Configure the width profile for the right lane by specifying the WidthProfile property of the lane. Specify the width of the lane.

horizontalLane2WidthProfile = horizontalLane2.WidthProfile;
startNode2 = horizontalLane2WidthProfile.Nodes(1);
startNode2.EndWidth = 3.5;
endNode2 = horizontalLane2WidthProfile.Nodes(end);
endNode2.StartWidth = 3.5;

Use the addSegmentedRoad function to add another segmented curve type road to the scene. Specify the starting point of the road as a control point. Next, indicate the forward direction of the road by specifying a second control point. You must specify the positions of these control points along the X- and Y- axes of the RoadRunner local coordinate system.

startPoint2 = [0 -42];
startRoadDirection2 = [0 1];
rrRoad2 = addSegmentedRoad(scn,startPoint2,startRoadDirection2);

Extract the horizontal curve of the second segmented road. Then, use the addLine function to create a line segment and add it to the second horizontal curve.

segmentedCurve2 = rrRoad2.HorizontalCurve;
addLine(segmentedCurve2,35);

Extract the reference lane of the road from the ReferenceLane property of the road object rrRoad2.

refLane2 = rrRoad2.ReferenceLane;

Use the extracted refLane2 object to add lane on the left side of the second reference lane of the road using the addLaneToLeft function. Then, use the LaneType and TravelDirection properties of the added lane to specify the type and travel direction, respectively. Add a driving lane to the left of the second horizontal road with a backward travel direction.

horizontalLane3 = addLaneToLeft(refLane2);
horizontalLane3.LaneType = "driving";
horizontalLane3.TravelDirection = "backward";

Configure the width profile for the second left lane by specifying the WidthProfile property of the lane. Specify the width of the lane.

horizontalLane3WidthProfile = horizontalLane3.WidthProfile;
startNode3 = horizontalLane3WidthProfile.Nodes(1);
startNode3.EndWidth = 3.5;
endNode3 = horizontalLane3WidthProfile.Nodes(end);
endNode3.StartWidth = 3.5;

Use the extracted refLane2 object to add another lane on the right side of the reference lane of the road using the addLaneToRight function. Then, use the LaneType and TravelDirection properties of the lane to specify the type and travel direction, respectively. Add a driving lane to the right of the second horizontal road with a forward travel direction.

horizontalLane4 = addLaneToRight(refLane2);
horizontalLane4.LaneType = "driving";
horizontalLane4.TravelDirection = "forward";

Configure the width profile for the second right lane by specifying the WidthProfile property of the lane. Specify the width of the lane.

horizontalLane4WidthProfile = horizontalLane4.WidthProfile;
startNode4 = horizontalLane4WidthProfile.Nodes(1);
startNode4.EndWidth = 3.5;
endNode4 = horizontalLane4WidthProfile.Nodes(end);
endNode4.StartWidth = 3.5;

Use the addSegmentedRoad function to add a third segmented curve type road to the scene. Specify the starting point of the road as a control point. Next, indicate the forward direction of the road by specifying a second control point. You must specify the positions of these control points along the X- and Y- axes of the RoadRunner local coordinate system.

startPoint3 = [42 0];
startRoadDirection3 = [-1 0];
rrRoad3 = addSegmentedRoad(scn,startPoint3,startRoadDirection3);

Extract the horizontal curve of the third segmented road. Then, use the addLine function to create a line segment and add it to the third horizontal curve.

segmentedCurve3 = rrRoad3.HorizontalCurve;
addLine(segmentedCurve3,35);

Extract the reference lane of the road from the ReferenceLane property of the road object rrRoad3.

refLane3 = rrRoad3.ReferenceLane;

Use the extracted refLane3 object to add lane on the left side of the reference lane of the third road using the addLaneToLeft function. Then, use the LaneType and TravelDirection properties of the added lane to specify the type and travel direction, respectively. Add a driving lane to the left of the third horizontal road with a backward travel direction.

horizontalLane5 = addLaneToLeft(refLane3);
horizontalLane5.LaneType = "driving";
horizontalLane5.TravelDirection = "backward";

Configure the width profile for the third left lane by specifying the WidthProfile property of the lane. Specify the width of the lane.

horizontalLane5WidthProfile = horizontalLane5.WidthProfile;
startNode5 = horizontalLane5WidthProfile.Nodes(1);
startNode5.EndWidth = 3.5;
endNode5 = horizontalLane5WidthProfile.Nodes(end);
endNode5.StartWidth = 3.5;

Use the extracted refLane3 object to add another lane on the right side of the reference lane of the road using the addLaneToRight function. Then, use the LaneType and TravelDirection properties of the lane to specify the type and travel direction, respectively. Add a driving lane to the right of the third horizontal road with a forward travel direction.

horizontalLane6 = addLaneToRight(refLane3);
horizontalLane6.LaneType = "driving";
horizontalLane6.TravelDirection = "forward";

Configure the width profile for the third right lane by specifying the WidthProfile property of the lane. Specify the width of the lane.

horizontalLane6WidthProfile = horizontalLane6.WidthProfile;
startNode6 = horizontalLane6WidthProfile.Nodes(1);
startNode6.EndWidth = 3.5;
endNode6 = horizontalLane6WidthProfile.Nodes(end);
endNode6.StartWidth = 3.5;

Use the addSegmentedRoad function to add a fourth segmented curve type road to the scene. Specify the starting point of the road as a control point. Next, indicate the forward direction of the road by specifying a second control point. You must specify the positions of these control points along the X- and Y- axes of the RoadRunner local coordinate system.

startPoint4 = [-42 0];
startRoadDirection4 = [1 0];
rrRoad4 = addSegmentedRoad(scn,startPoint4,startRoadDirection4);

Extract the horizontal curve of the fourth segmented road. Then, use the addLine function to create a line segment and add it to the fourth horizontal curve.

segmentedCurve4 = rrRoad4.HorizontalCurve;
addLine(segmentedCurve4,35);

Extract the reference lane of the road from the ReferenceLane property of the road object rrRoad4.

refLane4 = rrRoad4.ReferenceLane;

Use the extracted refLane4 object to add lane on the left side of the reference lane of the forth road using the addLaneToLeft function. Then, use the LaneType and TravelDirection properties of the added lane to specify the type and travel direction, respectively. Add a driving lane to the left of the fourth horizontal road with a backward travel direction.

horizontalLane7 = addLaneToLeft(refLane4);
horizontalLane7.LaneType = "driving";
horizontalLane7.TravelDirection = "backward";

Configure the width profile for the fourth left lane by specifying the WidthProfile property of the lane. Specify the width of the lane.

horizontalLane7WidthProfile = horizontalLane7.WidthProfile;
startNode7 = horizontalLane7WidthProfile.Nodes(1);
startNode7.EndWidth = 3.5;
endNode7 = horizontalLane7WidthProfile.Nodes(end);
endNode7.StartWidth = 3.5;

Use the extracted refLane4 object to add another lane on the right side of the reference lane of the road using the addLaneToRight function. Then, use the LaneType and TravelDirection properties of the lane to specify the type and travel direction, respectively. Add a driving lane to the right of the fourth horizontal road with a forward travel direction.

horizontalLane8 = addLaneToRight(refLane4);
horizontalLane8.LaneType = "driving";
horizontalLane8.TravelDirection = "forward";

Configure the width profile for the fourth right lane by specifying the WidthProfile property of the lane. Specify the width of the lane.

horizontalLane8WidthProfile = horizontalLane8.WidthProfile;
startNode8 = horizontalLane8WidthProfile.Nodes(1);
startNode8.EndWidth = 3.5;
endNode8 = horizontalLane8WidthProfile.Nodes(end);
endNode8.StartWidth = 3.5;

Create a junction at distance ranges specified by startDistances and endDistances. This creates a junction at a distance of 30m inside each the roads.

roads = [rrRoad1, rrRoad2, rrRoad3, rrRoad4];
startDistances = [30, 30, 30, 30];
endDistances = [-1, -1, -1, -1];
rrJunction = addJunction(scn, roads, startDistances, endDistances);

Retrieve the corner roads of the junction by extracting the Corner object from the Corners property of the Junction object.

rrCorners = rrJunction.Corners

Modify the radius of each corner of the junction using the setRadius function and specifying the new radius for all corners.

for i = 1:numel(rrCorners)
    setRadius(rrCorners(i), 10.0)
end