velocityCommand

Retrieve velocity command from time series of velocity commands

Since R2023a

Syntax

velout = velocityCommand(velcmds,timestamps,timeq)

Description

velout = velocityCommand(velcmds,timestamps,timeq) retrieves the velocity command velout, at the queried time instant timeq, from a series of velocity commands, velcmds, and corresponding timestamps, timestamps.

Examples

Retrieve Velocity from Time Series of Velocity Commands

Specify a set of velocity commands and corresponding timestamps.

velcmds = [0 0.5 1.0 1.2 1.4 1.5; ...
           0 0.2 0.5 0.2 0 0]';
timestamps = [0; 0.11; 0.2; 0.32; 0.45; 0.7];

Specify the query time.

timeq = 0.55;

Retrieve the velocity command at the queried time instant.

velout = velocityCommand(velcmds,timestamps,timeq);
disp("Set linear velocity to " + velout(1) + ...
    " and angular velocity to " + velout(2) + ".")

Set linear velocity to 1.4 and angular velocity to 0.

Input Arguments

velcmds — Series of velocity commands

N-by-2 matrix

Series of velocity commands, specified as an N-by-2 matrix, where the first column is the linear velocity and the second column is the angular velocity.

Data Types: double

timestamps — Timestamps of velocity commands

N-element column vector

Timestamps of velocity commands, specified as an N-element column vector. Each element is the timestamp for the corresponding row in the velcmds input.

Data Types: double

timeq — Query time

positive numeric scalar

Query time, specified as a positive numeric scalar.

Data Types: double

Output Arguments

velout — Velocity command

two-element row vector

Velocity command, returned as a two-element row vector containing the linear and angular velocity at the queried time timeq.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2023a