interpolate
Interpolate path based on propagator step size
Syntax
Description
Examples
Create navPath Based on Multiple Waypoints
Create a navPath
object based on multiple waypoints in a Dubins space.
dubinsSpace = stateSpaceDubins([0 25; 0 25; -pi pi])
dubinsSpace = stateSpaceDubins with properties: SE2 Properties Name: 'SE2 Dubins' StateBounds: [3x2 double] NumStateVariables: 3 Dubins Vehicle Properties MinTurningRadius: 1
pathobj = navPath(dubinsSpace)
pathobj = navPath with properties: StateSpace: [1x1 stateSpaceDubins] States: [0x3 double] NumStates: 0
waypoints = [8 10 pi/2; 7 14 pi/4; 10 17 pi/2; 10 10 -pi]; append(pathobj,waypoints)
Interpolate that path so that it contains exactly 250 points.
interpolate(pathobj,250)
Visualize the interpolated path and the original waypoints.
figure grid on axis equal hold on plot(pathobj.States(:,1),pathobj.States(:,2),".b") plot(waypoints(:,1),waypoints(:,2),"*r","MarkerSize",10)
Calculate length of path.
len = pathLength(pathobj);
disp("Path length = " + num2str(len))
Path length = 19.4722
Input Arguments
pathObj
— Control path object
navControlPath
object
Control path, specified as a navPathControl
object.
Data Types: double
Version History
Introduced in R2021b
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