pathmetrics
Information for path metrics
Description
The pathmetrics
object holds information for computing path
metrics. Use object functions to calculate smoothness, clearance, and path validity based on a
set of poses and the associated map environment.
Creation
Description
creates an object based on the input pathMetricsObj
= pathmetrics(path
)navPath
object.
The state validator is assumed to be a validatorOccupancyMap
object, if the state space of the
navPath
object is a stateSpaceSE2
,
stateSpaceDubins
, or stateSpaceReedsShepp
object. Otherwise, The state validator is assumed to be
a validatorOccupancyMap3D
object, if the state space of the
navPath
object is a stateSpaceSE3
object. The path
input sets the value of the Path property.
creates an object based on the input pathMetricsObj
= pathmetrics(path
,validator
)navPath
object and associated
state validator for checking the path validity. The validator
input
sets the value of the StateValidator property.
Properties
Object Functions
clearance | Minimum clearance of path |
isPathValid | Determine if planned path is obstacle free |
show | Visualize path metrics in map environment |
smoothness | Smoothness of path |
Examples
Version History
Introduced in R2019b