Characteristic information about
Get Additional Pure Pursuit Object Information
info method to get more information about a
controllerPurePursuit object. The
info function returns two fields,
LookaheadPoint, which correspond to the current position and orientation of the robot and the point on the path used to compute outputs from the last call of the object.
pp = controllerPurePursuit;
pp.Waypoints = [0 0;1 1];
Compute control commands using the
pp object with the initial pose
[x y theta] given as the input.
[v,w] = pp([0 0 0]);
Get additional information.
s = info(pp)
s = struct with fields: RobotPose: [0 0 0] LookaheadPoint: [0.7071 0.7071]
controller — Pure pursuit controller
Pure pursuit controller, specified as a
controllerInfo — Information on the
Information on the
returned as a structure. The structure contains two fields:
RobotPose– A three-element vector in the form
[x y theta]that corresponds to the x-y position and orientation of the vehicle. The angle,
theta, is measured in radians with positive angles measured counterclockwise from the x-axis.
LookaheadPoint– A two-element vector in the form
[x y]. The location is a point on the path that was used to compute outputs of the last call to the object.