distance

Estimate cost of propagating to target state

Since R2021b

Syntax

h = distance(mobileProp,q1,q2)

Description

h = distance(mobileProp,q1,q2) estimates the cost of propagating from one state to another. The DistanceEstimator property of the state propagator defines the distance metric for approximating cost.

Input Arguments

mobileProp — Mobile robot state propagator

mobileRobotPropagator object

Mobile robot state propagator, specified as a mobileRobotPropagator object.

q1 — Initial states

n-by-s matrix

Initial states, specified as an n-by-s matrix. n is the number of states and s is the size of the state vector.

q2 — Final states

n-by-s matrix

Final states, specified as an n-by-s matrix. n is the number of states and s is the size of the state vector.

Output Arguments

h — Cost values

n-element vector

Cost values, returned as an n-element vector. n is the number of q1 and q2 pairs.

You can use the cost values returned by this function to find the nearest neighbor for sampled target states when planning a path.

Version History

Introduced in R2021b