Simulink.ActorSimulation.createMATLABStruct

Create MATLAB structure for bus object for RoadRunner

Since R2024a

Syntax

struct = Simulink.ActorSimulation.createMATLABStruct(BusName)

Description

struct = Simulink.ActorSimulation.createMATLABStruct(BusName) creates a MATLAB^® structure that has the same hierarchy and attributes as the specified bus. The resulting structure uses the ground values of the bus. When you have Simulink^® string data type, the function converts them to the char data type with a maximum character length of 256, to support code generation.

Examples

Create MATLAB Structure for Bus Object from Simulink Model Communicating with RoadRunner

Based on the configuration of the RoadRunner Scenario Reader block in a Simulink model, the block outputs various types of bus. To see the data type of the output bus in your model, on the Debug tab, select Information Overlays, enable Bus Data Type, and update your model. This code assumes that the RoadRunner Scenario Reader block outputs the BusActorRuntime bus and uses it to create the structure in a MATLAB System object™.

function out = stepImpl(obj, u)
 
        % Construct default output struct
        out = Simulink.ActorSimulation.createMATLABStruct('BusActorRuntime');

        % Get ActorID
        actorSim = Simulink.ScenarioSimulation.find( ...
             'ActorSimulation','SystemObject',obj);
        actorID = getAttribute(actorSim,"ID");

        if ~isempty(u)
            pose = u(end).Pose;
            velocity = u(end).Velocity;
            displacement = velocity*obj.stepSize*obj.SpeedFactor;
    
            % Update pose
            pose(1,4) = pose(1,4)+displacement(1); % x
    
            % Update output
            out.Pose = pose;
            out.Velocity = velocity;
            out.ActorID = castIntToFi(actorID);
        end

    end

Input Arguments

BusName — Name of the bus object

character vector | string scalar

name of the Simulink.Bus object output by the RoadRunner Scenario Reader block in a model, specified as a character vector or string scalar.

This is the list of supported buses:

• BusActionComplete

• BusActorActions

• BusActorEvents

• BusActorPose

• BusActorRuntime

• BusActorSpec

• BusBoundingBox

• BusChangeParameterAction

• BusDistanceTarget

• BusDynamicConstraints

• BusLaneChangeAction

• BusLaneChangeTarget

• BusLateralOffsetAction

• BusLateralOffsetTarget

• BusLongitudinalDistanceAction

• BusPaintColor

• BusParameterAction

• BusPathAction

• BusPathPointTiming

• BusPathTarget

• BusSpeedAction

• BusSpeedTarget

• BusTransitionDynamics

• BusVehicleLocationOnLane

• BusVehicleMapLocation

• BusVehicleRuntime

• BusVehicleSpec

• BusWheelSpec

Output Arguments

struct — MATLAB structures with same signal hierarchy and attributes as bus

structure

MATLAB structure with the same hierarchy and attributes as the specified bus, returned as a structure.

Version History

Introduced in R2024a