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interpolate

Interpolate path based on propagator step size

Since R2021b

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Syntax

interpolate(pathObj)

Description

example

interpolate(pathObj) evaluates the path based on the ControlStepSize property of pathObj, and adds all intermediate points to the path.

Examples

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Open Live Script

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
    MaxNumStates: Inf


waypoints = [8 10 pi/2;
             7 14 pi/4;
             10 17 pi/2;
             10 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. One or more of the lines displays its values using only markers

Calculate length of path.

len = pathLength(pathobj);
disp("Path length = " + num2str(len))
Path length = 19.4722

Input Arguments

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Control path, specified as a navPathControl object.

Data Types: double

Version History

Introduced in R2021b

See Also

Objects

Functions