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Geometric properties of ego bodies


[egoIDs,geomStruct] = egoGeometry(capsuleListObj) returns the ego ID and the geometry parameters for each ego body in the capsule list.

[egoIDs,geomStruct] = egoGeometry(capsuleListObj,selectEgoIDs) specifies which ego bodies to return the ID and geometry parameters for.

[egoIDs,geomStruct,status] = egoGeometry(capsuleListObj,selectEgoIDs) returns an indicator of whether each ID in selectEgoIDs exists.

Input Arguments

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Dynamic capsule list, specified as a dynamicCapsuleList or dynamicCapsuleList3D object.

Ego body IDs, specified as a vector of positive integers. The function returns the ego IDs and geometry parameters for only the ego bodies specified in this vector.

Output Arguments

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IDs of ego bodies, returned as a vector of positive integers.

Geometry parameters for ego bodies, returned as a structure or structure array where each structure contains the fields from the structure in the Geometry field of the associated ego body. The fields of this structure depend on whether you are using a dynamicCapsuleList or dynamicCapsuleList3D object.

Indication of ego body existence, returned as a N-element column vector of ones, zeros, and negative ones. Each value indicates whether the associated body exists (1), updated (0), or a duplicate (-1). If you specify the same ego body ID more than once in the selectEgoIDs argument, then the function marks all instances of that ID after the first as duplicates and ignores them.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Introduced in R2020b