Main Content

propagate

Class: nav.StatePropagator
Namespace: nav

Propagate system without validation

Since R2021b

expand all in page

Syntax

[q,u,steps] = propagate(spObj,q0,u0,qTgt,maxSteps)

Description

[q,u,steps] = propagate(spObj,q0,u0,qTgt,maxSteps) iteratively propagates the system from the current state q0 towards a target state qTgt with an initial control input u0 for a maximum number of steps maxSteps.

At the end of each propagation step i, the system returns:

  • q(i,:) — Current state of the system

  • u(i,:) — Control input for step i+1

  • steps(i) — Number of steps between i-1 and i

Note

To skip adding the current state to the tree, you can return q as empty.

Input Arguments

expand all

State propagator object, specified as a handle from a child class of nav.StatePropagator.

Initial state of the system, specified as an s-element vector, where s is the number of state variables in the state space.

Initial control input, specified as an c-element vector, where c is the number of control inputs.

Target state of the system, specified as an s-element vector, where s is the number of state variables in the state space.

Maximum number of steps, specified as a positive scalar.

Output Arguments

expand all

Final propagated state of the system, specified as an s-element vector, where s is the number of state variables in the state space.

Control inputs for propagating states, specified as an s-element vector, where c is the number of control inputs.

Number of steps between each state and control input, specified as an n-element vector of positive integers.

Attributes

Abstracttrue

To learn about attributes of methods, see Method Attributes.

Version History

Introduced in R2021b

See Also

Classes

Functions