show
Visualize path segment
Description
show(
also specifies pathSeg
,Name,Value
)Name,Value
pairs to control display settings.
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})
Modify Connection Types for Reeds-Shepp 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. Notice the direction of the turns.
show(pathSegObj{1})
pathSegObj{1}.MotionTypes
ans = 1x5 cell
{'L'} {'R'} {'L'} {'N'} {'N'}
pathSegObj{1}.MotionDirections
ans = 1×5
1 -1 1 1 1
Disable this specific motion sequence in a new connection object. Reduce the MinTurningRadius
if the robot is more maneuverable. Increase the reverse cost to reduce the likelihood of reverse directions being used. Connect the poses again to get a different path.
reedsConnObj = reedsSheppConnection('DisabledPathTypes',{'LpRnLp'}); reedsConnObj.MinTurningRadius = 0.5; reedsConnObj.ReverseCost = 5; [pathSegObj,pathCosts] = connect(reedsConnObj,startPose,goalPose); pathSegObj{1}.MotionTypes
ans = 1x5 cell
{'L'} {'S'} {'L'} {'N'} {'N'}
show(pathSegObj{1}) xlim([0 1.5]) ylim([0 1.5])
Interpolate Poses For Dubins 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})
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 = 32×3
0 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 the quiver
function to plot these poses.
quiver(poses(:,1),poses(:,2),cos(poses(:,3)),sin(poses(:,3)),0.5)
Input Arguments
pathSeg
— Path segment
dubinsPathSegment
object | reedsSheppPathSegment
object
Path segment, specified as a dubinsPathSegment
or reedsSheppPathSegment
object.
Name-Value Arguments
Specify optional pairs of arguments as
Name1=Value1,...,NameN=ValueN
, where Name
is
the argument name and Value
is the corresponding value.
Name-value arguments must appear after other arguments, but the order of the
pairs does not matter.
Before R2021a, use commas to separate each name and value, and enclose
Name
in quotes.
Example: 'Headings',{'transitions'}
Parent
— Axes to plot path onto
Axes
handle
Axes to plot path onto, specified as an Axes
handle.
Headings
— Heading angles to display
cell array of character vector or string scalars
Heading angles to display, specified as a cell array of character vector or string
scalars. Options are any combination of
'start'
,'goal'
, and
'transitions'
. To disable all heading displays, specify
{''}
.
Positions
— Positions to display
'both'
(default) | 'start'
| 'goal'
| 'none'
Positions to display, specified as 'both'
,
'start'
, 'goal'
, or 'none'
.
The start position is marked with green, and the goal position is marked with
red.
HeadingLength
— Length of heading
positive numeric scalar
Length of heading, specified as positive numeric scalar. By default the value is
calculated according to the x
- and y
-axis limits
of the plot.
Data Types: double
Version History
Introduced in R2019b
See Also
Functions
Objects
Comando MATLAB
Hai fatto clic su un collegamento che corrisponde a questo comando MATLAB:
Esegui il comando inserendolo nella finestra di comando MATLAB. I browser web non supportano i comandi MATLAB.
Select a Web Site
Choose a web site to get translated content where available and see local events and offers. Based on your location, we recommend that you select: .
You can also select a web site from the following list:
How to Get Best Site Performance
Select the China site (in Chinese or English) for best site performance. Other MathWorks country sites are not optimized for visits from your location.
Americas
- América Latina (Español)
- Canada (English)
- United States (English)
Europe
- Belgium (English)
- Denmark (English)
- Deutschland (Deutsch)
- España (Español)
- Finland (English)
- France (Français)
- Ireland (English)
- Italia (Italiano)
- Luxembourg (English)
- Netherlands (English)
- Norway (English)
- Österreich (Deutsch)
- Portugal (English)
- Sweden (English)
- Switzerland
- United Kingdom (English)