propagate

Class: nav.StatePropagator
Namespace: nav

Propagate system without validation

Since R2021b

Syntax

[q,u,steps] = propagate(spObj,q0,u0,qTgt,maxSteps)


Description

[q,u,steps] = propagate(spObj,q0,u0,qTgt,maxSteps) iteratively propagates the system from the current state q0 towards a target state qTgt with an initial control input u0 for a maximum number of steps maxSteps.

At the end of each propagation step i, the system returns:

• q(i,:) — Current state of the system

• u(i,:) — Control input for step i+1

• steps(i) — Number of steps between i-1 and i

Note

To skip adding the current state to the tree, you can return q as empty.

Input Arguments

spObj — State propagator object

handle from child class of nav.StatePropagator

State propagator object, specified as a handle from a child class of nav.StatePropagator.

q0 — Initial state

s-element vector

Initial state of the system, specified as an s-element vector, where s is the number of state variables in the state space.

u0 — Initial control on the initial state

c-element vector

Initial control input, specified as an c-element vector, where c is the number of control inputs.

qTgt — Target state

s-element vector

Target state of the system, specified as an s-element vector, where s is the number of state variables in the state space.

maxSteps — Maximum number of steps

positive scalar

Maximum number of steps, specified as a positive scalar.

Output Arguments

q — Final propagated state of system

n-by-s matrix

Final propagated state of the system, specified as an s-element vector, where s is the number of state variables in the state space.

u — Control inputs for propagating states

n-by-c matrix

Control inputs for propagating states, specified as an s-element vector, where c is the number of control inputs.

steps — Number of steps between each state and control input

n-element vector of positive integers

Number of steps between each state and control input, specified as an n-element vector of positive integers.

Attributes

Abstract

true

To learn about attributes of methods, see Method Attributes.

Version History

Introduced in R2021b