# pathLength

Length of path

## Syntax

``len = pathLength(path)``

## Description

example

````len = pathLength(path)` returns the total length of path by summing the distances between every sequential pair of states in the path. The function uses the state space object associated with `path` to calculate the distance between each state pair.```

## 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)```

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`

## Output Arguments

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Length of the path, returned as a nonnegative scalar.

## Version History

Introduced in R2019b