append

Add states to end of path

Syntax

append(path,states)

Description

append(path,states) appends the state samples, states, to the end of the path.

Examples

Create navPath Based on Multiple Waypoints

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
    MaxNumStates: Inf

waypoints = [8 10 pi/2;
             7 14 pi/4;
             10 17 pi/2;
             10 10 -pi];
append(pathobj,waypoints)

Interpolate that path so that it contains exactly 250 points.

interpolate(pathobj,250)

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 = 19.4722

Create navPath Based on Multiple Waypoints in SE(3) State Space

Load a 3-D occupancy map of a city block into the workspace. Specify the threshold to consider cells as obstacle-free.

mapData = load("dMapCityBlock.mat");
omap = mapData.omap;
omap.FreeThreshold = 0.5;

Inflate the occupancy map to add a buffer zone for safe operation around the obstacles.

inflate(omap,1)

Create an SE(3) state space object with bounds for state variables.

ss = stateSpaceSE3([0 220;0 220;0 100;inf inf;inf inf;inf inf;inf inf]);

Create a navPath object based on multiple waypoints in an SE(3) state space.

path = navPath(ss);
waypoints = [40 180 15 0.7 0.2 0 0.1;
             55 120 20 0.6 0.2 0 0.1;
             100 100 25 0.5 0.2 0 0.1;
             130 90 30 0.4 0 0.1 0.6;
             150 33 35 0.3 0 0.1 0.6];
append(path,waypoints)

Interpolate that path so that it contains exactly 250 points.

interpolate(path,250)

Visualize the interpolated path and the original waypoints.

show(omap)
axis equal
view([-10 55])
hold on
% Start state
scatter3(waypoints(1,1),waypoints(1,2),waypoints(1,3),"g","filled")
% Goal state
scatter3(waypoints(end,1),waypoints(end,2),waypoints(end,3),"r","filled")
% Intermediate waypoints
scatter3(waypoints(2:end-1,1),waypoints(2:end-1,2), ...
         waypoints(2:end-1,3),"y","filled")
% Path
plot3(path.States(:,1),path.States(:,2),path.States(:,3), ...
      "r-",LineWidth=2)

Calculate length of path.

len = pathLength(path);
disp("Path length = " + num2str(len))

Path length = 204.1797

Input Arguments

path — path object

navPath object

Path object, specified as a navPath object.

states — states of path

real-valued M-by-N matrix

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 navPath. States outside of the StateBounds of the state space of path are pruned to the bounds.

Example: [0 0 0; 1 1 0; 2 2 0]

Example: [0 0 0 1 0 0 0; 1 1 1 1 0 0 0; 2 2 1 1 0 0 0]

Data Types: double

Extended Capabilities

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

Version History

Introduced in R2019b