# getTrackPositions

Returns updated track positions and position covariance matrix

## Syntax

## Description

returns a matrix of track positions based on tracks and the position
selector.`positions`

= getTrackPositions(`tracks`

,`positionSelector`

)

`[`

also returns the track position covariance matrices.`positions`

,`positionCovariances`

]
= getTrackPositions(___)

## Examples

### Find Position of 3-D Constant-Acceleration Object

Create an extended Kalman filter tracker for 3-D constant-acceleration motion.

`tracker = trackerTOMHT("FilterInitializationFcn",@initcaekf);`

Update the tracker with a single detection and get the tracks output.

```
detection = objectDetection(0,[10;-20;4],"ObjectClassID",3);
tracks = tracker(detection,0)
```

tracks = objectTrack with properties: TrackID: 1 BranchID: 1 SourceIndex: 0 UpdateTime: 0 Age: 1 State: [9x1 double] StateCovariance: [9x9 double] StateParameters: [1x1 struct] ObjectClassID: 3 ObjectClassProbabilities: 1 TrackLogic: 'Score' TrackLogicState: [13.7102 13.7102] IsConfirmed: 1 IsCoasted: 0 IsSelfReported: 1 ObjectAttributes: [1x1 struct]

Obtain the position vector from the track state using the model name.

`position1 = getTrackPositions(tracks,"constacc")`

`position1 = `*1×3*
10.0000 -20.0000 4.0000

Obtain the position vector from the track state using the position selector.

positionSelector = [1 0 0 0 0 0 0 0 0; 0 0 0 1 0 0 0 0 0; 0 0 0 0 0 0 1 0 0]; position2 = getTrackPositions(tracks, positionSelector)

`position2 = `*1×3*
10.0000 -20.0000 4.0000

### Find Position and Covariance of 3-D Constant-Velocity Object

Create an extended Kalman filter tracker for 3-D constant-velocity motion.

`tracker = trackerTOMHT("FilterInitializationFcn",@initcvekf);`

Update the tracker with a single detection and get the tracks output.

```
detection = objectDetection(0,[10;3;-7],"ObjectClassID",3);
tracks = tracker(detection,0)
```

tracks = objectTrack with properties: TrackID: 1 BranchID: 1 SourceIndex: 0 UpdateTime: 0 Age: 1 State: [6x1 double] StateCovariance: [6x6 double] StateParameters: [1x1 struct] ObjectClassID: 3 ObjectClassProbabilities: 1 TrackLogic: 'Score' TrackLogicState: [13.7102 13.7102] IsConfirmed: 1 IsCoasted: 0 IsSelfReported: 1 ObjectAttributes: [1x1 struct]

Obtain the position vector and position covariance for that track using the model name.

`[position1,positionCovariance1] = getTrackPositions(tracks,"constvel")`

`position1 = `*1×3*
10.0000 3.0000 -7.0000

`positionCovariance1 = `*3×3*
1.0000 0 0.0000
0 1.0000 0
0.0000 0 1.0000

Obtain the position vector and position covariance for that track using the position selector.

positionSelector = [1 0 0 0 0 0; 0 0 1 0 0 0; 0 0 0 0 1 0]; [position2,positionCovariance2] = getTrackPositions(tracks,positionSelector)

`position2 = `*1×3*
10.0000 3.0000 -7.0000

`positionCovariance2 = `*3×3*
1.0000 0 0.0000
0 1.0000 0
0.0000 0 1.0000

## Input Arguments

`tracks`

— Object tracks

array of `objectTrack`

objects | array of structures

Object tracks, specified as an array of `objectTrack`

objects or an
array of structures containing sufficient information to obtain the track
position information. At a minimum, these structures must contain a
`State`

column vector field and a positive-definite
`StateCovariance`

matrix field. For a sample
track structure, see `toStruct`

.

`modelName`

— Motion model name

`"constvel"`

| `"constacc"`

| `"singer"`

| `"constturn"`

Motion model name, specified as one of these options:

`"constvel"`

— The function obtains the position states based on the state definition in the`constvel`

function.`"constacc"`

— The function obtains the position states based on the state definition in the`constacc`

function.`"constturn"`

— The function obtains the position states based on the state definition in the`constturn`

function.`"singer"`

— The function obtains the position states based on the state definition in the`singer`

function. The use of`singer`

model requires the Sensor Fusion and Tracking Toolbox™.

`positionSelector`

— Position selection matrix

*D*-by-*N* real-valued matrix.

Position selector, specified as a
*D*-by-*N* real-valued matrix of ones
and zeros. *D* is the number of dimensions of the tracker.
*N* is the size of the state vector. Using this matrix,
the function extracts track positions from the state vector. Multiply the
state vector by position selector matrix returns positions. The same
selector is applied to all object tracks.

## Output Arguments

`positions`

— Positions of tracked objects

real-valued *M*-by-*D* matrix

Positions of tracked objects at last update time, returned as a
real-valued *M*-by-*D* matrix.
*D* represents the number of position elements.
*M* represents the number of tracks.

`positionCovariances`

— Position covariance matrices of tracked objects

real-valued
*D*-by-*D*-*M*
array

Position covariance matrices of tracked objects, returned as a real-valued
*D*-by-*D*-*M* array.
*D* represents the number of position elements.
*M* represents the number of tracks. Each
*D*-by-*D* submatrix is a position
covariance matrix for a track.

## More About

### Position Selector for 2-Dimensional Motion

Show the position selection matrix for two-dimensional motion when the state consists of the position and velocity.

$$\left[\begin{array}{cccc}1& 0& 0& 0\\ 0& 0& 1& 0\end{array}\right]$$

### Position Selector for 3-Dimensional Motion

Show the position selection matrix for three-dimensional motion when the state consists of the position and velocity.

$$\left[\begin{array}{cccccc}1& 0& 0& 0& 0& 0\\ 0& 0& 1& 0& 0& 0\\ 0& 0& 0& 0& 1& 0\end{array}\right]$$

### Position Selector for 3-Dimensional Motion with Acceleration

Show the position selection matrix for three-dimensional motion when the state consists of the position, velocity, and acceleration.

$$\left[\begin{array}{ccccccccc}1& 0& 0& 0& 0& 0& 0& 0& 0\\ 0& 0& 0& 1& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 0& 0& 1& 0& 0\end{array}\right]$$

## Extended Capabilities

### C/C++ Code Generation

Generate C and C++ code using MATLAB® Coder™.

In code generation, the

`tracks`

input must be specified as non-empty structures.

## Version History

**Introduced in R2018b**

### R2022b: Obtain position and covariance from tracks using motion model name input

You can now obtain positions and associated covariances of tracks by specifying the motion model name as an input. For example,

[positions,covariances] = getTrackPositions(tracks,"constvel")

`constvel`

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