findSceneAnchor

Extract object for specified scene anchor

Since R2025a

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    Syntax

    anchorPoint = findSceneAnchor(scnro,anchorName)

    Description

    anchorPoint = findSceneAnchor(scnro,anchorName) extracts an object for the anchor with the specified name in the attached scene. For example, rrAnchor = findSceneAnchor(scnro,"ScenarioStart") extracts an object, rrAnchor, for the anchor named "ScenarioStart" from the scene of the specified scenario scnro.

    Examples

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    Use the findSceneAnchor function to extract the object for the scene anchor "ScenarioStart". Then, use the anchor object to reposition the actor car from its current location to the location specified by the referenced anchor.

    Create a roadrunner object, specifying the path to an existing project. For example, this code shows the path to a project, on a Windows® machine, located at "C:\RR\MyProject". This code assumes that RoadRunner is installed in the default location, and returns an object, rrApp, that provides functions for performing basic tasks such as opening, closing, and saving scenes and projects.

    rrApp = roadrunner(ProjectFolder="C:\RR\MyProject");

    Note

    If you are opening RoadRunner from MATLAB® for the first time, or if you have changed the RoadRunner installation location since you last opened it from MATLAB, you can use the roadrunnerSetup function to specify new default project and installation folders to use when opening RoadRunner. You can save these folders between MATLAB sessions by selecting the Across MATLAB sessions option from the corresponding drop down.

    Open an existing scene in RoadRunner by using the openScene function, specifying the roadrunner object rrApp and the filename of the specific scene that you want to open. Then, use the newScenario function to create a new scenario.

    openScene(rrApp,"ScenarioBasic.rrscene")
newScenario(rrApp)

    Create an object for the RoadRunner authoring API, rrApi, that references the object for the current RoadRunner instance rrApp. The rrApi object enables you to programmatically author scenes and scenarios, such as by adding and modifying roads, actors, and logic components, using MATLAB.

    rrApi = roadrunnerAPI(rrApp);
    Extract the scene and scenario objects from the Scene and Scenario properties of the authoring API object rrApi, respectively. The extracted Scene object enables you to specify the scene in which to add scene components such as roads and lanes. The extracted Scenario (RoadRunner Scenario) object enables you to specify the scenario in which to add scenario components such as actors and logic.
    scn = rrApi.Scene;
scnro = rrApi.Scenario;
    Extract the object for your RoadRunner project from the Project property of the authoring API object rrApi. The extracted Project object enables you to specify the project folder for the current RoadRunner session from which to retrieve asset objects. You can use the asset objects to assign assets to roads in your scene, or to actors in your scenario.
    prj = rrApi.Project;

    Add a Vehicle actor to the scenario. Use the getAsset function to extract a VehicleAsset object, mySedan, that represents the Sedan.fbx asset in the project prj. Then, use the addActor function, specifying the scenario object scnro, the asset object, and the location at which to place the actor. Place the vehicle actor car at the world origin, specified as [0 0 0]. 

    mySedan = getAsset(prj,"Vehicles/Sedan.fbx","VehicleAsset");
car = addActor(scnro,mySedan,[0 0 0]);

    Relocate the actor to a new position on the road by referencing the location of one of the existing scene anchors. Use findSceneAnchor to extract an object, anchorPoint, for the scene anchor "ScenarioStart". Then, use the anchorToPoint function to relocate the actor from its current location to the location specified by the referenced anchor.

    anchorPoint = findSceneAnchor(scnro,"ScenarioStart");
carPoint = car.InitialPoint;
anchorToPoint(carPoint,anchorPoint,PosePreservation="reset-pose")

    Run the simulation by using the simulateScenario function.

    simulateScenario(rrApp)

    Input Arguments

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    Scenario in which to find the scene anchor, specified as a Scenario object. RoadRunner uses the specified Scenario object to search the associated scene for the anchor specified by anchorName.

    Example: anchorPoint = findSceneAnchor(scnro,"ScenarioStart"); returns an object, anchorPoint, for the anchor named "ScenarioStart" from the scene of the specified scenario scnro.

    Name of the scene anchor to find, specified as a string scalar or character vector.

    Output Arguments

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    Anchor point, returned as a SceneAnchorPoint object.

    Version History

    Introduced in R2025a

    See Also

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