interpolate

Interpolate path based on propagator step size

Syntax

interpolate(pathObj)

Description

interpolate(pathObj) evaluates the path based on the ControlStepSize property of pathObj, and adds all intermediate points to the path.

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