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shorten

Trim edges to shorten path from RRT

Description

shortPath = shorten(rrt,path,numIter) trims edges to shorten the specified path path by running a randomized shortening strategy for a specified number of iterations numIter.

Input Arguments

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Manipulator RRT planner, specified as a manipulatorRRT object. This planner is for a specific rigid body tree robot model stored as a rigidBodyTree object.

Planned path in joint space, specified as an r-by-n matrix of joint configurations, where r is the number of configurations in the path, and n is the number of nonfixed joints in the rigidBodyTree robot model.

Data Types: double

Number of iterations to attempt shortening path, specified as a positive integer.

Data Types: double

Output Arguments

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Planned path in joint space, returned as an r-by-n matrix of joint configurations, where r is the number of configurations in the path, and n is the number of nonfixed joints in the rigidBodyTree robot model.

Data Types: double

Extended Capabilities

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

Introduced in R2020b