VehiCool

VehiCool is a MATLAB library to animate vehicles in 3D.

It is currently under development. The current version is 0.1.0, which is still in alpha stage.

Beware that the API may change in the future.

Features

Hereafter a list of the implemented and upcoming features.

Implemented

• Visualize single-body objects in 3D.
• Visualize multi-body systems in 3D.
• Visualize 2D racetracks.
• Visualize 3D racetracks. (not tested)
• Animate and/or save a video in post-processing.
• Animate and/or save a video step-by-step (i.e., one step at a time, as if it was attached to a simulation).

Upcoming

• Visualize static trajectories in 3D.
• Visualize dynamic trajectories in 3D.
• Deferred update of objects (i.e., asynchronous update of objects).
• Default object collections (i.e., ready-to-go multi-body systems).

Dependencies

This library uses the following third-party libraries.

• madhouse-utils (provided as a submodule of the library).
• ebertolazzi/Clothoids (to be downloaded freely as a MATLAB package).

Quick setup

Once you have installed the required dependencies, you can add the library to your MATLAB path by running the following command

addpath( genpath( 'path/to/VehiCool' ) );

then you can use the library by following this workflow example

%% Load the data
...

%% Define the scenario
track = RaceTrack( left_margin, right_margin, 0.4 );
cam   = CameraObj( camera_state, target_state );
car   = Object3D( car_state, ...
                  'STLPath', 'models/cars/Renault_5_Rallye_Edition/Renault_5_Rallye_Edition.stl' );

%% Create and populate the scenario
scene = VehiCool();
scene.set_track( track );
scene.add_camera( cam );
scene.add_root_object( car );

%% Animate the scenario
scene.animate( time_sim(end) );

For a more detailed example, please refer to the examples folder.

Documentation

At the moment the documentation is not available. We are working on it. In the meantime, you can refer to the examples folder and to the source code which is well documented.

Licence

We release this library under the BSD 2-Clause License.

Authorship

Throught this library we use the following scheme for authorship.

• Authors:
  • Name Surname of author 1
  • Name Surname of author 2
  • ...

This is written in the header of each file. The order of the authors is the order of the contributions to the specific file.