roadrunner.hdmap.AlignedReference

R2026b

Provided information for linking objects in RoadRunner HD Maps

Since R2022b

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.

Properties

Reference — ID of referenced object

roadrunner.hdmap.Reference object

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.

Alignment — Type of alignment

character vector | string scalar

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

Add Lane with Aligned Reference to RoadRunner HD Map

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