connect

Connect poses for given connection type

Syntax

[pathSegments,pathCosts] = connect(connectionObj,start,goal)

[pathSegments,pathCosts] = connect(connectionObj,start,goal,'PathSegments','all')

Description

[pathSegments,pathCosts] = connect(connectionObj,start,goal) connects the start and goal poses using the specified dubinsConnection object. The path segment object with the lowest cost is returned.

[pathSegments,pathCosts] = connect(connectionObj,start,goal,'PathSegments','all') returns all possible path segments as a cell array with their associated costs.

Examples

Connect Poses Using Dubins Connection Path

Create a dubinsConnection object.

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})

Connect Poses Using ReedsShepp Connection Path

Create a reedsSheppConnection object.

reedsConnObj = reedsSheppConnection;

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(reedsConnObj,startPose,goalPose);

Show the generated path.

show(pathSegObj{1})

Input Arguments

connectionObj — Path connection type

dubinsPathSegment object | reedsSheppPathSegment object

Path connection type, specified as a dubinsConnection or reedsSheppConnection object. This object defines the parameters of the connection, including the minimum turning radius of the robot and the valid motion types.

start — Initial pose of robot

[x, y, Θ] vector or matrix

This property is read-only.

Initial pose of the robot at the start of the path segment, specified as an [x, y, Θ] vector or matrix. Each row of the matrix corresponds to a different start pose.

x and y are in meters. Θ is in radians.

The connect function supports:

• Singular start pose with singular goal pose.

• Multiple start pose with singular goal pose.

• Singular start pose with multiple goal pose.

• Multiple start pose with multiple goal pose.

The output pathSegments cell array size reflects the singular or multiple pose options.

goal — Goal pose of robot

[x, y, Θ] vector or matrix

This property is read-only.

Goal pose of the robot at the end of the path segment, specified as an [x, y, Θ] vector or matrix. Each row of the matrix corresponds to a different goal pose.

x and y are in meters. Θ is in radians.

The connect function supports:

• Singular start pose with singular goal pose.

• Multiple start pose with singular goal pose.

• Singular start pose with multiple goal pose.

• Multiple start pose with multiple goal pose.

The output pathSegments cell array size reflects the singular or multiple pose options.

Output Arguments

pathSegments — Path segments

cell array of objects

Path segments, specified as a cell array of objects. The type of object depends on the input connectionObj. The size of the cell array depends on whether you use singular or multiple start and goal poses. By default, the function returns the path with the lowest cost for each start and goal pose. When call connect using the 'PathSegments','all' name-value pair, the cell array contains all valid path segments between the specified start and goal poses.

pathCosts — Cost of path segment

positive numeric scalar | positive numeric vector | positive numeric matrix

Cost of path segments, specified as a positive numeric scalar, vector, or matrix. Each element of the cost vector or matrix corresponds to a path segment in pathSegment. By default, the function returns the path with the lowest cost for each start and goal pose.

Example: [7.6484,7.5122]

Extended Capabilities

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

Version History

Introduced in R2019b