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interpolate

Interpolate poses along path segment

Since R2019b

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Syntax

poses = interpolate(pathSeg)
poses = interpolate(pathSeg,lengths)
[poses,directions] = interpolate(___)

Description

poses= interpolate(pathSeg)interpolates along the path segment at the transitions between motion types.

example

poses= interpolate(pathSeg,lengths)沿着指定的路径段的篡改ed lengths along the path. Transitions between motion types are always included.

[poses,directions] = interpolate(___)沿着帕特也返回运动的方向h for each section as a vector of 1s (forward) and –1s (reverse) using the previous inputs.

Examples

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Open Live Script

Create adubinsConnectionobject.

dubConnObj = dubinsConnection;

Define start and goal poses as[x y theta]vectors.

startPose = [0 0 0]; goalPose = [1 1 pi];

Calculate a valid path segment to connect the poses.

[pathSegObj,pathCosts] = connect(dubConnObj,startPose,goalPose);

Show the generated path.

show(pathSegObj{1})

Figure contains an axes object. The axes object contains 12 objects of type line, scatter. These objects represent Path, Start Position, Goal Position.

Interpolate poses along the path. Get a pose every 0.2 meters, including the transitions between turns.

length = pathSegObj{1}.Length; poses = interpolate(pathSegObj{1},0:0.2:length)
poses =32×30 0 0 0.1987 -0.0199 6.0832 0.3894 -0.0789 5.8832 0.5646 -0.1747 5.6832 0.7174 -0.3033 5.4832 0.8309 -0.4436 5.3024 0.8418 -0.4595 5.3216 0.9718 -0.6110 5.5216 1.1293 -0.7337 5.7216 1.3081 -0.8226 5.9216 ⋮

Use thequiverfunction to plot these poses.

quiver(poses(:,1),poses(:,2),cos(poses(:,3)),sin(poses(:,3)),0.5)

Figure contains an axes object. The axes object contains an object of type quiver.

Input Arguments

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Path segment, specified as adubinsPathSegmentorreedsSheppPathSegmentobject.

Lengths along path to interpolate at, specified as a positive numeric vector. For example, specify[0:0.1:pathSegObj{1}.Length]to interpolate at every 0.1 meters along the path. Transitions between motion types are always included.

Output Arguments

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This property is read-only.

Interpolated poses along the path segment, specified as an [x,y,Θ] matrix. Each row of the matrix corresponds to a different interpolated pose along the path.

xandyare in meters.Θis in radians.

Directions of motion for each segment of the interpolated path, specified as a vector of 1s (forward) and –1s (reverse).

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2019b

See Also

Functions

Objects