roadrunner.hdmap.AlignedReference

R2026b

Provided information for linking objects in RoadRunner HD Maps

Since R2022b

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    Description

    The roadrunner.hdmap.AlignedReference object enables you to specify information for linking objects in RoadRunner HD Maps. This information is used to specify lane navigation. You can link a lane with lane boundaries and other lane. To specify the alignment between linked objects, you must follow these rules:

    • Alignment must always be relative to the orientation of the object of interest.

    • When the directions of two objects match, the alignment is forward. Otherwise, the alignment is backward.

    Creation

    Syntax

    alref = roadrunner.hdmap.AlignedReference()
    alref = roadrunner.hdmap.AlignedReference(Name=Value)

    Description

    alref = roadrunner.hdmap.AlignedReference() creates an empty aligned reference.

    alref = roadrunner.hdmap.AlignedReference(Name=Value) sets the properties of the aligned reference using name-value pairs.

    example

    Properties

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    ID of the referenced object, specified as a roadrunner.hdmap.Reference (RoadRunner) object.

    Example: ref= roadrunner.hdmap.Reference(ID="Lane2") creates a referenced object with id Lane2.

    Type of alignment between linked objects, specified as a character vector or string scalar. The type of alignment is specified as one of the following strings: "Unspecified", "Forward", or "Backward".

    Example: alref= roadrunner.hdmap.AlignedReference(Reference=ref, Alignment="Forward") creates the aligned reference for Lane2 with "Forward" alignment.

    Data Types: char | string

    Examples

    collapse all

    This example uses:

    Open Live Script

    Create an empty RoadRunner HD Map by calling the roadrunnerHDMap object.

    rrMap = roadrunnerHDMap()
    rrMap = 
  roadrunnerHDMap with properties:

                 Author: ""
           GeoReference: [0 0]
     GeographicBoundary: []
                  Lanes: [0×1 roadrunner.hdmap.Lane]
            SpeedLimits: [0×1 roadrunner.hdmap.SpeedLimit]
         LaneBoundaries: [0×1 roadrunner.hdmap.LaneBoundary]
             LaneGroups: [0×1 roadrunner.hdmap.LaneGroup]
           LaneMarkings: [0×1 roadrunner.hdmap.LaneMarking]
              Junctions: [0×1 roadrunner.hdmap.Junction]
           BarrierTypes: [0×1 roadrunner.hdmap.BarrierType]
               Barriers: [0×1 roadrunner.hdmap.Barrier]
              SignTypes: [0×1 roadrunner.hdmap.SignType]
                  Signs: [0×1 roadrunner.hdmap.Sign]
      StaticObjectTypes: [0×1 roadrunner.hdmap.StaticObjectType]
          StaticObjects: [0×1 roadrunner.hdmap.StaticObject]
    StencilMarkingTypes: [0×1 roadrunner.hdmap.StencilMarkingType]
        StencilMarkings: [0×1 roadrunner.hdmap.StencilMarking]
      CurveMarkingTypes: [0×1 roadrunner.hdmap.CurveMarkingType]
          CurveMarkings: [0×1 roadrunner.hdmap.CurveMarking]
            SignalTypes: [0×1 roadrunner.hdmap.SignalType]
                Signals: [0×1 roadrunner.hdmap.Signal]

    Create the road lane using the roadrunner.hdmap.Lane object. Specify the lane information for the lane id, coordinates defining the lane geometry, driving direction, and lane type.

    rLane = roadrunner.hdmap.Lane(ID="Lane1",Geometry=[-0.782 -1.56;50.78 23.43],TravelDirection="Forward",LaneType="Driving")
    rLane = 
  Lane with properties:

                      ID: "Lane1"
                Geometry: [2×2 double]
         TravelDirection: Forward
        LeftLaneBoundary: [0×0 roadrunner.hdmap.AlignedReference]
       RightLaneBoundary: [0×0 roadrunner.hdmap.AlignedReference]
            Predecessors: [0×1 roadrunner.hdmap.AlignedReference]
              Successors: [0×1 roadrunner.hdmap.AlignedReference]
                LaneType: Driving
                Metadata: [0×1 roadrunner.hdmap.Metadata]
    ParametricAttributes: [0×1 roadrunner.hdmap.ParametricAttribution]

    Create an aligned reference to Lane1 using the roadrunner.hdmap.AlignedReference object. For this example, specify the type of alignment as Forward.

    ref = roadrunner.hdmap.Reference(ID="Lane1")
    ref = 
  Reference with properties:

    ID: "Lane1"


    alref = roadrunner.hdmap.AlignedReference(Reference=ref,Alignment="Forward")
    alref = 
  AlignedReference with properties:

    Reference: [1×1 roadrunner.hdmap.Reference]
    Alignment: Forward

    Version History

    Introduced in R2022b

    See Also

    (RoadRunner) | (RoadRunner) | (RoadRunner)

    Topics