Add states to end of path
Create a navPath object based on multiple waypoints in a Dubins space.
dubinsSpace = stateSpaceDubins([0 25; 0 25; -pi pi])
dubinsSpace = stateSpaceDubins with properties: SE2 Properties Name: 'SE2 Dubins' StateBounds: [3×2 double] NumStateVariables: 3 Dubins Vehicle Properties MinTurningRadius: 1
pathobj = navPath(dubinsSpace)
pathobj = navPath with properties: StateSpace: [1×1 stateSpaceDubins] States: [0×3 double] NumStates: 0
waypoints = [... 8 10 pi/2; 10 12 pi/4; 12 17 pi/2; 11 10 -pi]; append(pathobj, waypoints);
Interpolate that path so that it contains exactly 250 points.
Visualize the interpolated path and the original waypoints.
figure; grid on; axis equal; hold on; plot(pathobj.States(:,1), pathobj.States(:,2), ".b"); plot(waypoints(:,1), waypoints(:,2), "*r", "MarkerSize", 10)
Calculate length of path.
len = pathLength(pathobj); disp("Path length = " + num2str(len))
Path length = 19.37
states— states of path
States of the path, specified as a real-valued
M-by-N matrix. M is the
number of states appended to the path, and N is the dimension of
each state. The dimension of each state is governed by the state space defined in the
StateSpace property of
outside of the
StateBounds of the state space of path are pruned to
[ 0 0 0; 1 1 1]