autoAnchor

Anchor point to nearest road

Since R2025a

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    Syntax

    autoAnchor(point)
    autoAnchor(point,PosePreservation=posePreservation)

    Description

    autoAnchor(point) anchors the point point to the nearest scene or scenario anchor. If no anchors exist, RoadRunner Scenario creates a new anchor.

    Note

    The Default Anchor Type setting in the RoadRunner Scenario Application Preferences determines the type of the newly created anchor. By default, this is set to Scenario Anchor.

    autoAnchor(point,PosePreservation=posePreservation) specifies whether to preserve the current position and tangent heading of the point point.

    Examples

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    Use the autoAnchor function to anchor route points to a road.

    Create a roadrunner object, specifying the path to an existing project. For example, this code shows the path to a project, on a Windows® machine, located at "C:\RR\MyProject". This code assumes that RoadRunner is installed in the default location, and returns an object, rrApp, that provides functions for performing basic tasks such as opening, closing, and saving scenes and projects.

    rrApp = roadrunner(ProjectFolder="C:\RR\MyProject");

    Note

    If you are opening RoadRunner from MATLAB® for the first time, or if you have changed the RoadRunner installation location since you last opened it from MATLAB, you can use the roadrunnerSetup function to specify new default project and installation folders to use when opening RoadRunner. You can save these folders between MATLAB sessions by selecting the Across MATLAB sessions option from the corresponding drop down.

    Open an existing scene in RoadRunner by using the openScene function, specifying the roadrunner object rrApp and the filename of the specific scene that you want to open. Then, use the newScenario function to create a new scenario.

    openScene(rrApp,"ScenarioBasic.rrscene")
newScenario(rrApp)

    Create an object for the RoadRunner authoring API, rrApi, that references the object for the current RoadRunner instance rrApp. The rrApi object enables you to programmatically author scenes and scenarios, such as by adding and modifying roads, actors, and logic components, using MATLAB.

    rrApi = roadrunnerAPI(rrApp);
    Extract the scene and scenario objects from the Scene and Scenario properties of the authoring API object rrApi, respectively. The extracted Scene object enables you to specify the scene in which to add scene components such as roads and lanes. The extracted Scenario (RoadRunner Scenario) object enables you to specify the scenario in which to add scenario components such as actors and logic.
    scn = rrApi.Scene;
scnro = rrApi.Scenario;
    Extract the object for your RoadRunner project from the Project property of the authoring API object rrApi. The extracted Project object enables you to specify the project folder for the current RoadRunner session from which to retrieve asset objects. You can use the asset objects to assign assets to roads in your scene, or to actors in your scenario.
    prj = rrApi.Project;

    Add a Vehicle actor to the scenario. Use the getAsset function to extract a VehicleAsset object, mySedan, that represents the Sedan.fbx asset in the project prj. Then, use the addActor function, specifying the scenario object scnro, the asset object, and the location at which to place the actor. Place the vehicle actor car at the world origin, specified as [0 0 0]. 

    mySedan = getAsset(prj,"Vehicles/Sedan.fbx","VehicleAsset");
car = addActor(scnro,mySedan,[0 0 0]);

    If you do not know the exact coordinates at which you want to place the actor, you can relocate the actor based on an existing point or anchor. For example, you can use findSceneAnchor to reference an existing anchor in the scene, then use anchorToPoint to relocate the actor from its current location to the location specified by the referenced anchor. For more information, see findSceneAnchor and anchorToPoint.

    anchorPoint = findSceneAnchor(scnro,"ScenarioStart");
carPoint = car.InitialPoint;
anchorToPoint(carPoint,anchorPoint,PosePreservation="reset-pose")

    Extract the route for car from the Route property of carPoint, and assign it to the variable rrRoute. Then, use the addPoint function to add a new point, routePoint, to the route at [0 0 0].

    rrRoute = carPoint.Route;
routePoint = addPoint(rrRoute,[0 0 0]);

    Use autoAnchor to anchor the new point to the road, and specify to retain the current position and tangent heading of routePoint. If no anchor exists near routePoint, RoadRunner Scenario creates a new anchor.

    autoAnchor(routePoint,PosePreservation="preserve-pose")

    Run the simulation by using the simulateScenario function. The actor car follows the new route.

    simulateScenario(rrApp)

    Input Arguments

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    Point to anchor, specified as a Point object.

    Example: autoAnchor(point,PosePreservation="preserve-pose") anchors the point point to the nearest road while preserving the existing position and tangent heading of point.

    Preservation of the current position and tangent heading of the point, specified as one of these options:

    • "reset-pose" — Resets the position and tangent heading of the point after anchoring.

    • "preserve-pose" — Preserves the position and tangent heading of the point after anchoring.

    Limitations

    • To use autoAnchor, points must be within 5 meters of a road surface.

    Version History

    Introduced in R2025a

    See Also

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    Topics