sim3d.person.Bicyclist

Create bicyclist that follows ground in 3D environment

Since R2024b

Description

Use the sim3d.person.Bicyclist object to create a bicyclist that follows ground in the 3D environment. After you create a sim3d.person.Bicyclist object, you can modify aspects of the bicyclist actor by setting property values.

Creation

Syntax

person = sim3d.person.Bicyclist()

person = sim3d.person.Bicyclist(Name=Value)

Description

person = sim3d.person.Bicyclist() creates a default bicyclist object in the 3D environment.

person = sim3d.person.Bicyclist(Name=Value) specifies options using one or more name-value arguments. For example, to create a bicyclist at the position [1 2 0], set Translation to [1 2 0; 0 0 0; 0 0 0].

Input Arguments

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: person = sim3d.person.Bicyclist(ActorName="Bicyclist",Translation=[2 0 0; 0 0 0; 0 0 0],Rotation=[0 0 0; 0 0 0; 0 0 pi/2])

ActorName — Name of actor

autogenerated name (default) | character array | string

Name of actor, specified as a character array or string. If you do not specify an actor name, then the software assigns the actor an autogenerated name. Use this argument to set the name of the sim3d.person.Bicyclist object.

Note

If you specify the same name as an actor that already exists, then the software appends actor name you specify with a unique identifier.

ActorClassId — Semantic segmentation map of object class identifiers

61 (default) | real positive scalar

Semantic segmentation map of object class identifiers, specified as real positive scalar. For a complete list of actor IDs and their corresponding object descriptions, see Labels.

Translation — Relative translation

[0 0 0; 0 0 0; 0 0 0] (default) | real 3-by-3 array

Relative translation of bicycle and wheels, specified as real 3-by-3 array, in m. Use this argument to set the initial translation of the bicyclist.

• Translation(1,1), Translation(1,2), and Translation(1,3) — Bicycle translation relative to its parent actor about the X-, Y-, and Z- axes of the ISO 8855 standard coordinate system. For more information on the coordinate system, see Coordinate Systems in Simulink 3D Animation. When you add an actor to the 3D environment, the default parent actor is the Scene Origin at (0,0,0).

• Translation(...,1), Translation(...,2), and Translation(...,3) — Wheel translation relative to bicycle, about the X-, Y-, and Z- axes of the ISO 8855 standard coordinate system.

The signal contains translation information according to the bicycle and wheel locations.

$$Translation=\left[\begin{array}{ccc}{X}_B& Y_B& Z_B\\ X_F& Y_F& Z_F\\ X_R& Y_R& Z_R\end{array}\right]$$

Translation	Array Element	Translation Axis
Bicycle, XB	Translation(1,1)	X-axis
Bicycle, YB	Translation(1,2)	Y-axis
Bicycle, ZB	Translation(1,3)	Z-axis
Front wheel, XF	Translation(2,1)	X-axis
Front wheel, YF	Translation(2,2)	Y-axis
Front wheel, ZF	Translation(2,3)	Z-axis
Rear wheel, XR	Translation(3,1)	X-axis
Rear wheel, YR	Translation(3,2)	Y-axis
Rear wheel, ZR	Translation(3,3)	Z-axis

Note

The sim3d.person.Bicyclist object implements an actor that follows the ground. Use X, Y, and Yaw properties to move the actor in the 3D environment. The actor object then determines the corresponding elevation, pitch, and roll by sensing the ground terrain.

Data Types: double

Rotation — Relative rotation

[0 0 0; 0 0 0; 0 0 0] (default) | real 3-by-3 array

Relative rotation of bicycle and wheels, specified as real 3-by-3 array, in rad. Use this argument to set the initial rotation of the bicyclist.

• Rotation(1,1), Rotation(1,2), and Rotation(1,3) — Bicycle rotation relative to its parent actor about the X-, Y-, and Z- axes of the ISO 8855 standard coordinate system. For more information on the coordinate system, see Coordinate Systems in Simulink 3D Animation.

• Rotation(...,1), Rotation(...,2), and Rotation(...,3) — Wheel rotation relative to bicycle, about the X-, Y-, and Z- axes of the ISO 8855 standard coordinate system.

The signal contains rotation information according to the bicycle and wheel locations.

$$Rotation=\left[\begin{array}{ccc}Pitc{h}_B& Rol{l}_B& Ya{w}_B\\ Pitc{h}_F& Rol{l}_F& Ya{w}_F\\ Pitc{h}_R& Rol{l}_R& Ya{w}_R\end{array}\right]$$

Rotation	Array Element	Rotation Axis
Bicycle, RollB	Rotation(1,1)	X-axis
Bicycle, PitchB	Rotation(1,2)	Y-axis
Bicycle, YawB	Rotation(1,3)	Z-axis
Front wheel, RollF	Rotation(2,1)	X-axis
Front wheel, PitchF	Rotation(2,2)	Y-axis
Front wheel, YawF	Rotation(2,3)	Z-axis
Rear wheel, RollR	Rotation(3,1)	X-axis
Rear wheel, PitchR	Rotation(3,2)	Y-axis
Rear wheel, YawR	Rotation(3,3)	Z-axis

Note

The sim3d.person.Bicyclist object implements an actor that follows the ground. Use X, Y, and Yaw properties to move the actor in the 3D environment. The actor object then determines the corresponding elevation, pitch, and roll by sensing the ground terrain.

Data Types: double

Properties

Parent — Parent of actor

handle to parent actor object

Parent of actor, specified as a handle to the parent actor object. After you add an actor to the sim3d.World object, the default parent actor is the Scene Origin at (0,0,0). Use this property to set any actor in the 3D environment as the parent actor of a sim3d.person.Bicyclist object.

Children — Children of actor

structure

This property is read-only.

Children of actor, specified as a structure. Each field of the structure contains a handle to the child of a sim3d.person.Bicyclist object.

ParentWorld — Parent world

handle to parent world object

Parent world, specified as a handle to the parent sim3d.World object. You can use this property only if the sim3d.person.Bicyclist object is added to the parent sim3d.World object.

X — Longitudinal position of actor

0 (default) | scalar

Longitudinal position of the actor along the X-axis of the scene, specified as scalar, in m. X is in the ISO 8855 standard coordinate system. Use this property to move the actor along the X-axis of the scene. For more information on the coordinate system, see Coordinate Systems in Simulink 3D Animation.

Y — Lateral position of actor

0 (default) | scalar

Lateral position of the actor along the Y-axis of the scene, specified as scalar, in m. Y is in the ISO 8855 standard coordinate system. Use this property to move the actor along the Y-axis of the scene. For more information on the coordinate system, see Coordinate Systems in Simulink 3D Animation.

Yaw — Yaw orientation angle of actor

0 (default) | scalar

Yaw orientation angle of the actor along the Z-axis of the scene, specified as scalar, in rad. Yaw is in the ISO 8855 standard coordinate system. Use this property to rotate the actor along the Z-axis of the scene. For more information on the coordinate system, see Coordinate Systems in Simulink 3D Animation.

Version History

Introduced in R2024b