headingFromXY

Compute heading angle from XY-points of path

Since R2023a

Syntax

heading = headingFromXY(path)

Description

heading = headingFromXY(path) computes the heading angle heading based on the XY-points of the path path.

Examples

Compute Heading from XY-Points of Path

Create a binary occupancy map using the mapClutter function.

rng("default")
map = mapClutter(5,MapSize=[20,20],MapResolution=1);

Create a plannerAStarGrid object using the map. Plan a path.

planner = plannerAStarGrid(map);
pathXY = plan(planner,[1 1],[18 18],"world");

Compute the heading angle (orientation of the robot) from the path.

heading = headingFromXY(pathXY);

Visualize the heading angle on the path.

show(map)
hold on
plot(pathXY(:,1),pathXY(:,2),".-")
quiver(pathXY(:,1),pathXY(:,2),cos(heading),sin(heading),0.2)

Input Arguments

path — Path

N-by-2 matrix

Path, specified as an N-by-2 matrix, where the first column represents the X-coordinate and the second column represents the Y-coordinate of each point on the path.

Data Types: single | double

Output Arguments

heading — Heading angle

N-element column vector

Heading angle, returned as an N-element column vector, in radians. Element N is the same as the element (N-1).

Extended Capabilities

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

Version History

Introduced in R2023a