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interpolate

Interpolate between states

Since R2021b

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Syntax

interpStates = interpolate(manipSS,state1,state2,ratios)

Description

interpStates = interpolate(manipSS,state1,state2,ratios) interpolates between two states in the manipulator state space using the specified ratio values ratios.

Input Arguments

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Manipulator state space, specified as a manipulatorStateSpace object, which is a subclass of nav.StateSpace (Navigation Toolbox).

Initial state position, specified as an n-element row vector. n is the dimension of the state space specified in the NumStateVariables property of manipSS.

Final state position, specified as an n-element row vector. n is the dimension of the state space specified in the NumStateVariables property of manipSS.

Ratio values for interpolating along the path, specified as an m-element vector of values in range [0 1]. These ratios determine the distance of the interpolated state from state1.

Output Arguments

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Interpolated states, returned as an m-by-n matrix. m is the length of ratios and n is the dimension of the state space specified in the NumStateVariables property of manipSS.

Version History

Introduced in R2021b

See Also

Objects

Functions