Interpolate reference path at provided arc lengths
Generate Trajectory from Reference Path
Generate a reference path from a set of waypoints.
waypoints = [0 0; 50 20; 100 0; 150 10]; refPath = referencePathFrenet(waypoints);
trajectoryGeneratorFrenet object from the reference path.
connector = trajectoryGeneratorFrenet(refPath);
Generate a five-second trajectory between the path origin and a point 30 meters down the path as Frenet states.
initCartState = refPath.SegmentParameters(1,:); initFrenetState = global2frenet(refPath,initCartState); termFrenetState = initFrenetState + [30 zeros(1,5)]; frenetTraj = connect(connector,initFrenetState,termFrenetState,5);
Convert the trajectory to the global states.
globalTraj = frenet2global(refPath,frenetTraj.Trajectory);
Display the reference path and the trajectory.
show(refPath); axis equal hold on plot(globalTraj(:,1),globalTraj(:,2),'b')
Specify global points and find the closest points on reference path.
globalPoints = waypoints(2:end,:) + [20 -50]; nearestPathPoint = closestPoint(refPath,globalPoints);
Display the global points and the closest points on reference path.
Interpolate between the arc lengths of the first two closest points along the reference path.
arclengths = linspace(nearestPathPoint(1,6),nearestPathPoint(2,6),10); pathStates = interpolate(refPath,arclengths);
Display the interpolated path points.
plot(pathStates(:,1),pathStates(:,2),'g') legend(["Waypoints","Reference Path","Trajectory to 30m",... "Global Points","Closest Points","Interpolated Path Points"])
refPath — Reference path
Reference path, specified as a
arclengths — Distances along reference path
Distances along the reference path, specified as an N-element vector. N is the number of arc lengths at which to sample points. Each distance is in meters.
pathPoints — Points on reference path
N-by-6 numeric matrix
Points on the reference path , returned as an N-by-6 numeric
matrix with rows of form
x y and theta — SE(2) state expressed in global coordinates, with x and y in meters and theta in radians
kappa — Curvature, or inverse of the radius, in
dkappa — Derivative of curvature with respect to arc length in
s — Arc length, or distance along path from path origin, in meters
N is the number of points sampled along the reference path.
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Introduced in R2020b