get

Get logged scenario simulation data

Since R2022a

Syntax

loggeddata = get(log,Parameter)

loggeddata = get(log,Parameter,'ActorID',ID)

Description

loggeddata = get(log,Parameter) returns simulation log data specified by Parameter from the ScenarioLog object log.

loggeddata = get(log,Parameter,'ActorID',ID) returns simulation log data specified by Parameter for actor with identifier ID from the ScenarioLog object log.

Examples

Get Scenario Simulation Log

Set logging on for ss, a ScenarioSimulation object.

set(ss,'Logging','on')

Get the simulation log after it stops playing.

log = get(ss,'SimulationLog')

Get the list of participating actors from the simulation.

actors = get(log,'ActorIDs')

actors =

     0     1     2

Get the velocity of actor with actor ID 1.

vel = get(log, 'Velocity', 'ActorID', 1)

Input Arguments

log — Scenario simulation log

ScenarioLog object

Scenario simulation log from which to return data, specified as a ScenarioLog object.

Example: actors = get(log,'ActorIDs')

Parameter — Information required from simulation log

ActorIDs | Time | MaxSimulationTime | StepSize | Diagnostics | Actions | Events | Pose | Velocity | AngularVelocity | WheelPose | ScenarioFile | InitialState

Information required from simulation log, specified as one of these parameters.

• ActorIDs

• Time

• MaxSimulationTime

• StepSize

• Diagnostics

• Actions

• Events

• Pose

• Velocity

• AngularVelocity

• WheelPose

• ScenarioFile

• InitialState

Note

You can retrieve the Actions, Events, Pose, Velocity, AngularVelocity, InitialState and WheelPose parameters for a specific ActorID, only.

ID — Actor identifier

positive integer

Actor identifier, specified as a positive integer.

Example: pose = get(log, 'Pose', 'ActorID', 5)

Output Arguments

loggeddata — Specific simulation log data

array | structure array | double

Specific simulation log data, returned as an array or structure array.

This table describes the output returned for each Parameter input argument.

Input Argument	Output
ActorIDs	List of unique IDs of actors that participated in the simulation, returned as an array. Actor ID 0, representing the world, is always included in the list.
Time	Each time step of the simulation, returned as an array.
MaxSimulationTime	Maximum simulation time, returned as a double.
StepSize	Step size of a simulation, returned as a double.
Diagnostics	Diagnostics reported during the simulation, if any, returned as a structure array.
Actions	Actions of specified actor, if any, for each time step of the simulation, returned as a structure array.
Events	Events being sent by the specified actor, if any, for each time step of the simulation, returned as a structure array.
Pose	Pose of specified actor for each time step of the simulation, returned as a structure array. See What Is a RoadRunner Pose Matrix? for more information about this array.
Velocity	Velocity of specified actor for each time step of the simulation, returned as a structure array.
AngularVelocity	Angular velocity of specified actor for each time step of the simulation, returned as a structure array.
WheelPose	Wheel pose of specified actor for each time step of the simulation, returned as a structure array.
ScenarioFile	Scenario file used to generate log.
InitialState	Actor state before the start of a simulation, returned as a struct.

This table describes the fields of each structure within the Diagnostics structure array.

Field Name	Description
Time	Simulation time step at which diagnostic message is reported.
MessageType	Type of reported message, returned as an enumeration variable of the EnumDiagnosticType enumeration class. The value of EnumDiagnosticType variable can be: Unspecified — The diagnostic type of reported message is unknown. Information — The reported message is at the information level. Warning — The reported message is at the warning level. Error — The reported message is at the error level.
Message	Diagnostic message text, returned as a string or character vector.

This table describes the fields of each structure within the Actions structure array.

Field Name	Description
Time	Each simulation time step, from start to end.
Action	Actions of the specified actor, if any, at each simulation time step.

This table describes the fields of each structure within the Events structure array.

Field Name	Description
Time	Each simulation time step, from start to end.
Events	Events being sent by the specified actor, if any, at each simulation time step.

This table describes the fields of each structure within the Pose structure array.

Field Name	Description
Time	Each simulation time step, from start to end.
Pose	Pose of the specified actor at each simulation time step.

This table describes the fields of each structure within the Velocity structure array.

Field Name	Description
Time	Each simulation time step, from start to end.
Velocity	Velocity of the specified actor at each simulation time step.

This table describes the fields of each structure within the AngularVelocity structure array.

Field Name	Description
Time	Each simulation time step, from start to end.
AngularVelocity	Angular velocity of the specified actor at each simulation time step.

This table describes the fields of a structure within the WheelPose structure array.

Field Name	Description
Time	Each simulation time step, from start to end.
WheelPose	The wheel pose of the specified actor at each simulation time step. WheelPose is returned for wheels starting from the leftmost side of the front axle, and moving to the right. After the first axle is complete, the leftmost wheel of the second axle is taken into consideration before moving to the right, and so on.

This table describes the InitialPose structure.

Field Name	Description
Time	Time step at which actor was created, returned as a double.
ActorID	Actor identifier, returned as a string.
Pose	Initial actor pose, returned as a 4-by-4 matrix.
Velocity	Initial actor velocity, returned as a 1-by-3 matrix.
AngularVelocity	Initial angular velocity of actor, returned as a 1-by-3 matrix.
WheelPose	Initial wheel pose of vehicle actor, returned as a 4-by-4-by-4 array.

Version History

Introduced in R2022a

R2023a: Retrieve the initial state of an actor

Starting in R2024a, you can use the get function to get information about the state of an actor before the simulation starts.