SynchronizeAction

This example assumes that you have prior knowledge of working with RoadRunner in MATLAB. Before proceeding, follow the steps outlined in Set Up MATLAB Environment for RoadRunner Authoring Functions to set up your scenario using MATLAB functions for scenario authoring.

Add Two Vehicle Actors

To add two vehicle actors 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 to place two actors, ctrlActor and refActor, by specifying the scenario object scnro, the asset object, and the respective location for each actor.

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

To relocate the actors so that they align with the lanes on the road, anchor them to the scene anchor ScenarioStart. First, use findSceneAnchor to extract an object, anchorPoint, that represents the ScenarioStart anchor. Then, extract objects for the InitialPoint property of the actors ctrlActor and refActor. Use anchorToPoint to relocate each actor from its current location to the location specified by ScenarioStart.

anchorPoint = findSceneAnchor(scnro,"ScenarioStart");
controlPoint = ctrlActor.InitialPoint;
referencePoint = refActor.InitialPoint;
anchorToPoint(controlPoint,anchorPoint,PosePreservation="reset-pose")
anchorToPoint(referencePoint,anchorPoint,PosePreservation="reset-pose")

To move the actors so they are located at different positions on the road, in different lanes, change the ForwardOffset and LaneOffset properties of the InitialPoint for each actor.

controlPoint.ForwardOffset = 20;
referencePoint.ForwardOffset = 50;
referencePoint.LaneOffset = 1;

Build Routes for Each Actor

To use a Synchronize action, both actors must have routes. To build a route for the actors ctrlActor and refActor, extract the Route property of the actor initial points controlPoint and referencePoint, respectively. Then, use addPoint to add a two new points to each route: a target point, where synchronization occurs for each actor, and an end point to enable the actors to continue moving along the road after each has reached its target point.

Specify the locations of the target point for each actor, controlTarget and referenceTarget, for ctrlActor and refActor, respectively, so that the points are positioned parallel to each other in their respective lanes. Then, add an end point for each actor route further down the road.

controlRoute = controlPoint.Route;
referenceRoute = referencePoint.Route;

controlTarget = addPoint(controlRoute,[0 -3 0]);
controlEnd = addPoint(controlRoute,[150 3 0]);
referenceTarget = addPoint(referenceRoute,[0 -5 0]);
referenceEnd = addPoint(referenceRoute,[150 0 0]);

To align the actor routes with the lanes, use autoAnchor to anchor each point to the road.

autoAnchor(controlTarget,PosePreservation="reset-pose");
autoAnchor(controlEnd,PosePreservation="reset-pose");
autoAnchor(referenceTarget,PosePreservation="reset-pose");
autoAnchor(referenceEnd,PosePreservation="reset-pose");

Add SynchronizeAction to Scenario Logic

Use addPhaseInSerial to add a new actor action phase, the controlAction object, in serial after the initial phase controlInitPhase. Then, assign the new action phase to the actor by specifying ctrlActor as the Actor property of controlAction.

rrLogic = scnro.PhaseLogic;
controlInitPhase = initialPhaseForActor(rrLogic,ctrlActor);
controlAction = addPhaseInSerial(rrLogic,controlInitPhase,"ActorActionPhase",Insertion="after");
controlAction.Actor = ctrlActor;

To add a Synchronize action, sync, use addAction to specify "SynchronizeAction" as the action of the action phase controlAction. To specify for the ctrlActor actor to synchronize its position with refActor during simulation, specify the TargetPoint property as controlTarget, the ReferenceActor property as refActor, and the ReferenceTargetPoint property as referenceTarget.

sync = addAction(controlAction,"SynchronizeAction");
sync.TargetPoint = controlTarget;
sync.ReferenceActor = refActor;
sync.ReferenceActorTargetPoint = referenceTarget;

Add Change Speed Action

Add a Change Speed action in serial after controlAction so that ctrlActor matches the speed of refActor after the point of synchronization. To learn more about the Change Speed action and ChangeSpeedAction object, see Change Speed Actions (RoadRunner Scenario) and ChangeSpeedAction, respectively.

speedAction = addPhaseInSerial(rrLogic,controlAction,"ActorActionPhase",Insertion="after");
speedAction.Actor = ctrlActor;
chSpeed = addAction(speedAction,"ChangeSpeedAction");
chSpeed.SpeedReference = "actor";
chSpeed.ReferenceActor = refActor;
chSpeed.Direction = "same";
chSpeed.DynamicsDimension = "time";
chSpeed.DynamicsValue = 0;

Run the simulation by using the simulateScenario function.

simulateScenario(rrApp)