closestPointsToSequence

Projects sequence of points onto path

Since R2022a

Syntax

pathPoints = closestPointsToSequence(refPath,points,initWindow)

[pathPoints,inWindow] = closestPointsToSequence(refPath,points,initWindow)

Description

pathPoints = closestPointsToSequence(refPath,points,initWindow) uses the closest point within a sequence of points, points, to be within the valid search window, initWindow. For each point in Points, the search window is centered at the previous point.

[pathPoints,inWindow] = closestPointsToSequence(refPath,points,initWindow) optionally returns a logical vector inWindow, specifying whether each point for the corresponding xy coordinate in points is projected within the search window.

Input Arguments

refPath — Reference path

referencePathFrenet object

Reference path, specified as a referencePathFrenet object.

points — Global points

P-by-2 numeric matrix

Global points, specified as a P-by-2 numeric matrix with rows of the form [x y]. P is the number of points. Positions are in meters.

initWindow — Initial search window

two-element row vector

Initial search window, specified as a two-element row vector in the form [minimum_bound maximum_bound] .

Output Arguments

pathPoints — Closest points on reference path

N-by-6 numeric matrix

Closest points on the reference path , returned as an N-by-6 numeric matrix with rows of form [x y theta kappa dkappa s], where:

• x y and theta — SE(2) state expressed in global coordinates, with x and y in meters and theta in radians

• kappa — Curvature, or inverse of the radius, in m-1

• dkappa — Derivative of curvature with respect to arc length in m-2

• s — Arc length, or distance along path from path origin, in meters

N is the number of points sampled along the reference path.

inWindow — Indicator of points being in search window

N-element logical column vector

Indication whether each point nearest to the corresponding xy coordinate in points, is projected within the search window, returned as an N-element logical column vector, where N is the number of points in points. Points being projected within the search window are true, or false if they lie at the end of a window.

Extended Capabilities

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

Version History

Introduced in R2022a