addPredecessor

R2026b

Add predecessor to lane in RoadRunner HD Map

Since R2022b

Syntax

aPredecessor = addPredecessor(aLane,predecessorID)

aPredecessor = addPredecessor(aLane,predecessorID,Name=Value)

Description

aPredecessor = addPredecessor(aLane,predecessorID) adds a predecessor with ID predecessorID to the Predecessors (RoadRunner) property of the lane and returns it.

aPredecessor = addPredecessor(aLane,predecessorID,Name=Value) sets options using one or more name-value arguments.

Examples

Add Predecessor to a Lane in 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 two road lanes using the roadrunner.hdmap.Lane object. Specify the lane information for the lane id, coordinates defining the lane geometry, driving direction, and lane type.

rrMap.Lanes(2) = roadrunner.hdmap.Lane(ID="Lane2",Geometry=[-0.782 -1.56;50.78 23.43],TravelDirection="Forward",LaneType="Driving")

rrMap = 
  roadrunnerHDMap with properties:

                 Author: ""
           GeoReference: [0 0]
     GeographicBoundary: []
                  Lanes: [2×1 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]

rrMap.Lanes(1) = roadrunner.hdmap.Lane(ID="Lane1",Geometry=[-0.534 -2.43;25.78 46.43],TravelDirection="Backward",LaneType="Driving")

rrMap = 
  roadrunnerHDMap with properties:

                 Author: ""
           GeoReference: [0 0]
     GeographicBoundary: []
                  Lanes: [2×1 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]

Add Lane1 as a predecessor to Lane2.

addPredecessor(rrMap.Lanes(2),"Lane1")

ans = 
  AlignedReference with properties:

    Reference: [1×1 roadrunner.hdmap.Reference]
    Alignment: Unspecified

Input Arguments

aLane — Lane properties of road

roadrunner.hdmap.Lane object

Lane properties of a road, specified as a roadrunner.hdmap.Lane (RoadRunner) object.

Example: aLane= roadrunner.hdmap.Lane(ID="Lane1", Geometry=[-0.782 -1.56;50.78 23.43], LaneType="Driving", TravelDirection="Forward") creates a lane with properties lane id, coordinates defining lane geometry, lane type, and driving direction.

predecessorID — ID of predecessor lane

character vector | string scalar

ID of the predecessor lane, specified as a string.

Example: addPredecessor(rrMap.Lanes(2),"Lane1") assigns Lane1 as the predecessor of Lane2 in a RoadRunner HD Map.

Data Types: char | string

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:

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

Output Arguments

aPredecessor — Linkage information for preceding lanes

roadrunner.hdmap.AlignedReference object

Linkage information for preceding lanes, specified as a roadrunner.hdmap.AlignedReference (RoadRunner) object.

Version History

Introduced in R2022b