read
Description
[
returns one recorded dataset at the simulation time, simTime
,poses
,coverageConfigs
,detections
,sensorConfigs
,sensorPlatformIDs
,emissions
,emitterConfigs
,emitterPlatformIDs
] = read(TSR
)simTime
, from a
tracking scenario recording TSR
.
Examples
Run Recorded Scenario
Load recorded data from a prerecorded scenario called recordedScenario
. Construct a trackingScenarioRecording
object using the recorded data.
load recordedData
recording = trackingScenarioRecording(recordedData);
Construct a theater plot to display the recorded data using multiple plotters.
tp = theaterPlot('AxesUnits', ["km" "km" "km"], 'XLimits',[-50 50]*1e3,... 'YLimits',[-50 50]*1e3,'ZLimits', [-20 20]*1e3); to = platformPlotter(tp,'DisplayName','Tower','Marker','d'); pp = platformPlotter(tp,'DisplayName','Targets'); dp = detectionPlotter(tp,'DisplayName','Detections','MarkerFaceColor','black'); cp = coveragePlotter(tp,'DisplayName','Radar Beam'); coverage = struct('Index',1,'LookAngle',[0;-7],'FieldOfView',[1;10],... 'ScanLimits',[0 365;-12 -2],'Range',100e3,'Position',[0;0;-15],... 'Orientation',eye(3));
Run the recorded scenario and animate the results.
scanBuffer = {}; while ~isDone(recording) % Step the reader to read the next frame of data [simTime,poses,covcon,dets,senconfig] = read(recording); scanBuffer = [scanBuffer;dets]; %#ok<AGROW> plotPlatform(to,poses(1).Position); plotPlatform(pp,reshape([poses(2:4).Position]',3,[])'); plotCoverage(cp,covcon); if ~isempty(dets) plotDetection(dp,cell2mat(cellfun(@(c) c.Measurement(:)', scanBuffer, 'UniformOutput', false))); end % Clear the buffer when a 360 degree scan is complete if senconfig.IsScanDone scanBuffer = {}; dp.clearData; end end
Reset the recording to its beginning.
reset(recording)
Input Arguments
TSR
— Tracking scenario recording
trackingScenarioRecording
object
Tracking scenario recording, specified as a trackingScenarioRecording
object.
Output Arguments
simTime
— Simulation time
nonnegative scalar
Simulation time, returned as a nonnegative scalar.
poses
— Poses of platforms
array of structures
Poses of platforms, returned as an array of structures. The fields of each structure are:
Field | Description |
---|---|
PlatformID | Unique identifier for the platform, specified as a positive integer. This is a required field with no default value. |
ClassID | User-defined integer used to classify the type of target, specified as a nonnegative integer. Zero is reserved for unclassified platform types and is the default value. |
Position | Position of platform in scenario coordinates, specified as a real-valued 1-by-3 row vector.
|
Velocity | Velocity of platform in scenario coordinates, specified as a real-valued 1-by-3 row
vector. Units are meters per second. The default value is |
Acceleration | Acceleration of the platform in scenario coordinates, specified as a
1-by-3 row vector in meters per second squared. The default value is
|
Orientation | Orientation of the platform with respect to the local scenario navigation frame,
specified as a scalar quaternion or a 3-by-3 rotation matrix. Orientation
defines the frame rotation from the local navigation coordinate system to
the current platform body coordinate system. Units are dimensionless. The
default value is |
AngularVelocity | Angular velocity of the platform in scenario coordinates, specified as a real-valued
1-by-3 vector. The magnitude of the vector defines the angular speed. The
direction defines the axis of clockwise rotation. Units are degrees per
second. The default value is |
coverageConfigs
— Sensor coverage configurations
array of structures
Sensor coverage configurations, returned as an array of structures. The fields of each structure are:
Fields of configurations
Field | Description |
---|---|
Index | A unique integer to identify sensors or emitters. |
LookAngle |
Current boresight angles of the sensor or emitter, specified as:
|
FieldOfView | Field of view of the sensor or emitter, specified as a two-element vector
[azimuth ; elevation ] in
degrees. |
ScanLimits |
Minimum and maximum angles the sensor or emitter can scan from its
|
Range | Range of the beam and coverage area of the sensor or emitter in meters. |
Position | Origin position of the sensor or emitter, specified as a three-element vector
[X , Y , Z ]. |
Orientation | Rotation transformation from the scenario or global frame to the sensor or emitter mounting frame, specified as a rotation matrix, a quaternion, or three Euler angles in ZYX sequence. |
detections
— Detections
cell array of objectDetection
objects
Detections, returned as a cell array of objectDetection
objects.
sensorConfigs
— Sensor configurations
array of structures
Sensor configurations, returned as an array of structures. The fields of each structure are:
Field | Description |
SensorIndex | Unique sensor index, returned as a positive integer. |
IsValidTime | Valid detection time, returned as |
IsScanDone |
|
RangeLimits | Lower and upper range detection limits, returned as a two-element real-valued vector in meters. |
RangeRateLimits | Lower and upper range-rate detection limits, returned as a two-element real-valued vector in m/s. |
FieldOfView | Field of view of the sensor, returned as a 2-by-1 vector of positive real values, [ |
MeasurementParameters | Sensor measurement parameters, returned as an array of structures containing the coordinate frame transforms needed to transform positions and velocities in the top-level frame to the current sensor looking-angle frame. |
sensorPlatformIDs
— Platform IDs of sensors
array of nonnegative integers
Platform IDs of sensors, returned as an array of nonnegative integers.
emissions
— Emissions
cell array of radarEmission
or sonarEmission
objects
Emissions, returned as a cell array of radarEmission
or sonarEmission
objects.
emitterConfigs
— Emitter configurations
array of structures
Emitter configurations, returned as an array of structures. The fields of each structure are:
Field | Description |
EmitterIndex | Unique emitter index, returned as a positive integer. |
IsValidTime | Valid emission time, returned as |
IsScanDone | Whether the emitter has completed a scan, returned as |
FieldOfView | Field of view of the emitter, returned as a two-element vector [azimuth; elevation] in degrees. |
MeasurementParameters | Emitter measurement parameters, returned as an array of structures containing the coordinate frame transforms needed to transform positions and velocities in the top-level frame to the current emitter looking-angle frame. |
emitterPlatformIDs
— Platform IDs of emitters
array of nonnegative integers
Platform IDs of emitters, returned as an array of nonnegative integers.
Version History
Introduced in R2020a
See Also
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