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interpolate

Interpolate points along path

Description

example

interpolate(path,numStates) inserts a number of states in the path and ensures the distribution of all the points in the path to be uniform. The function preserves all the existing states in the path. The value of numStates must be greater than or equal to the number of existing states in the path.

Examples

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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)

Figure contains an axes object. The axes object contains 2 objects of type line.

Calculate length of path.

len = pathLength(pathobj);
disp("Path length = " + num2str(len))
Path length = 19.37

Input Arguments

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Path object, specified as a navPath object.

Data Types: object

Number of states inserted in the path, specified as a nonnegative integer. Its value must be greater than or equal to the number of existing states in the path.

Data Types: double

Version History

Introduced in R2019b

See Also