propagateWhileValid

Class: nav.StatePropagator
Namespace: nav

Propagate system and return valid motion

Since R2021b

Syntax

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


Description

[q,u,steps] = propagateWhileValid(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. All propagations are validated and the function returns system information between q0 and the last valid state.

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

If the propagation failed, or 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