distance
Description
Input Arguments
manipSS
— Manipulator state space
manipulatorStateSpace
object
Manipulator state space, specified as a manipulatorStateSpace
object, which is a subclass of nav.StateSpace
(Navigation Toolbox).
state1
— Initial state position
n-element row vector | m-by-n matrix
Initial state position, specified as ann-element row vector or
m-by-n matrix. n is the
dimension of the state space specified in the NumStateVariables
property of manipSS
. m is the number of initial
state positions.
The sizes of state1
and state2
determine
the size of the dist
output:
State Vectors and Distances
state1 Size | state2 Size | dist Size |
---|---|---|
n-element row vector | n-element row vector | scalar |
n-element row vector | m-by-n matrix | m-element column vector |
m-by-n matrix | n-element row vector | m-element column vector |
m-by-n matrix | m-by-n matrix | m-element column vector |
state2
— Final state position
n-element vector | m-by-n matrix of row vectors
Final state position, specified as a n-element row vector or
m-by-n matrix. n is the
dimension of the state space specified in the NumStateVariables
property of manipSS
. m is the number of initial
state positions.
The sizes of state1
and state2
determine
the size of the dist
output:
State Vectors and Distances
state1 Size | state2 Size | dist Size |
---|---|---|
n-element row vector | n-element row vector | scalar |
n-element row vector | m-by-n matrix | m-element column vector |
m-by-n matrix | n-element row vector | m-element column vector |
m-by-n matrix | m-by-n matrix | m-element column vector |
Output Arguments
dist
— Distance between two states
numeric scalar | m-element column vector
Distance between two states, returned as a numeric scalar or
m-element column vector. This distance calculation is the main
component in evaluating the costs of paths. For prismatic joints, the distance between
two states is the Euclidean norm of the difference between the state vectors. For
revolute joints with infinite bounds, the difference in joint values is calculated using
angdiff
.
For revolute joints, distances measure joint differences in radians. For prismatic joints, distances measure displacement in meters.
The sizes of state1
and state2
determine
the size of output dist
:
State Vectors and Distances
state1 Size | state2 Size | dist Size |
---|---|---|
n-element row vector | n-element row vector | scalar |
n-element row vector | m-by-n matrix | m-element column vector |
m-by-n matrix | n-element row vector | m-element column vector |
m-by-n matrix | m-by-n matrix | m-element column vector |
Version History
Introduced in R2021b
See Also
nav.StateSpace
(Navigation Toolbox) | nav.StateValidator
(Navigation Toolbox) | stateSpaceSE2
(Navigation Toolbox) | stateSpaceDubins
(Navigation Toolbox) | stateSpaceReedsShepp
(Navigation Toolbox)
Topics
- Create Custom State Space for Path Planning (Navigation Toolbox)
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