Hi Sinem,
From what I gather, you want to obtain all the interpolated states along a 3D Dubins path generated using ‘uavDubinsConnection’, like your previous 2D workflow.
In 3D, the path is constructed as a sequence of ‘uavDubinsPathSegment’ objects, each representing the path between two waypoints. The ‘interpolate method‘of each segment object allows you to sample points along it.
Here is how you can do this:
% Example waypoints
wayPoints = [
0 0 0 0;
100 0 10 pi/6;
200 50 20 pi/4
];
connectionObj = uavDubinsConnection;
connectionObj.MaxRollAngle = deg2rad(5);
connectionObj.AirSpeed = 30;
allStates = [];
for i = 1:size(wayPoints,1)-1
pathSegObj = uavDubinsPathSegment(connectionObj, wayPoints(i,:), wayPoints(i+1,:));
N = 20; % Number of samples per segment
lengths = linspace(0, pathSegObj.Length, N);
states = interpolate(pathSegObj, lengths);
if i == 1
allStates = [allStates; states];
else
allStates = [allStates; states(2:end,:)];
end
end
Output:
Here we are using the interpolate method for each ’uavDubinsPathSegment’ to obtain path points and then concatenate results for the full path, like your 2D workflow.
For a better understanding of the above solution, refer to the following MATLAB documentations:
1. uavdubinsconnection: https://www.mathworks.com/help/releases/R2021a/uav/ref/uavdubinsconnection.html
2. uavdubinspathsegment https://www.mathworks.com/help/releases/R2021a/uav/ref/uavdubinspathsegment.html
