initialPhaseForActor

Extract object for actor initial phase

Since R2025a

Syntax

initPhase = initialPhaseForActor(rrLogic,actor)

Description

initPhase = initialPhaseForActor(rrLogic,actor) returns the initial phase for the specified actor. The initial action phase sets the state of the actor at the start of the simulation.

Examples

Create Object for Actor Initial Phase

Add an actor to your scenario and extract the object that represents its initial phase. All actors in a scenario must have a corresponding initial action phase for the simulation to run.

By default, RoadRunner Scenario creates an initial phase for every actor. To reference an initial phase programmatically in MATLAB^®, use the initialPhaseForActor function to create an object for the initial phase of the specified actor. You can then use the initial phase object to programmatically specify subsequent logic phases for the associated actor in the RoadRunner scenario logic.

Set Up RoadRunner Scenario

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 Actor and Create Object for Initial Phase

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 phase logic in your RoadRunner scenario from the PhaseLogic property of your scenario object scnro. By default, RoadRunner Scenario creates an initial phase in the scenario logic for each actor added to a scenario. Use the initialPhaseForActor function to extract the object for the initial phase of the actor car. You can use the initial phase object initPhase to modify the properties of the initial phase or specify subsequent logic phases.

rrLogic = scnro.PhaseLogic;
initPhase = initialPhaseForActor(rrLogic,car);

Run the simulation by using the simulateScenario function. If you do not specify logic phases to alter actor behavior, the actor performs the default lane-following behavior.

simulateScenario(rrApp)

Input Arguments

rrLogic — Scenario logic object

PhaseLogic object

Scenario logic object, specified as a PhaseLogic object. The PhaseLogic object represents the root phase for the scenario in the RoadRunner scenario logic and contains all logic components for the scenario.

Example: initPhase = initialPhaseForActor(rrLogic,car) extracts initial phase for the actor car from the scenario phase logic rrLogic.

actor — Actor associated with initial phase to extract

Vehicle object | Character object | MovableObject object

Actor associated with the initial phase to extract, specified as one of these objects:

• Vehicle — Represents a vehicle actor in the RoadRunner scenario.

• Character — Represents a character actor in the RoadRunner scenario.

• MovableObject — Represents a movable object actor in the RoadRunner scenario.

Output Arguments

initPhase — Initial phase for actor

ActorActionPhase object

Initial phase for the actor, returned as an ActorActionPhase object.

Version History

Introduced in R2025a