Pure Pursuit (simulink) error :' Expected waypoints to be an array with number of columns equal to 2. '

Question

Marco Soriano 2022-5-3

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https://ww2.mathworks.cn/matlabcentral/answers/1710525-pure-pursuit-simulink-error-expected-waypoints-to-be-an-array-with-number-of-columns-equal-to-2

回答： Joshua Tashbar 2023-10-8

Good morning,

I'm trying to give to the PurePursuit simulink block a matrix n-by-2 in which the two columns are vectors x and y, the waypoints of a trajectory, but it continues to give me this error.

Can anyone tell me what the problem could be?

Thanks in advance.

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Ajay Pattassery 2022-11-22

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Could you confirm whether the waypoints are nx2 by verifying

width(waypoints) == 2

If it is true, please share a minimal working simulink example to inspect.

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Answer 1

Ajay Pattassery 2023-1-27

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此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1710525-pure-pursuit-simulink-error-expected-waypoints-to-be-an-array-with-number-of-columns-equal-to-2#answer_1157545

This example demonstrates how to execute an obstacle-free path between two locations on a given map in Simulink. The example provide waypoints as an nx2 matrix.

Let us know if the issue still exist. If it exists share the actual error message and preferably a minimal simulink example to inspect.