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: [3x2 double]
    NumStateVariables: 3

   Dubins Vehicle Properties
     MinTurningRadius: 1

pathobj = navPath(dubinsSpace)

pathobj = 
  navPath with properties:

    StateSpace: [1x1 stateSpaceDubins]
        States: [0x3 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.

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 = 19.37

Input Arguments

path — path object

navPath object

Path object, specified as a navPath object.

Data Types: 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 1]

Data Types: double

Version History

Introduced in R2019b