sampleControl

Generate control command and duration

Since R2021b

Syntax

[u,steps] = sampleControl(mobileProp,q0,u0,qTgt)

Description

[u,steps] = sampleControl(mobileProp,q0,u0,qTgt) generates a series of control commands and number of steps to move from the current state q0 with control command u0 toward the target state qTgt.

Input Arguments

mobileProp — Mobile robot state propagator

mobileRobotPropagator object

Mobile robot state propagator, specified as a mobileRobotPropagator object.

q0 — Initial state

s-element vector

Initial state of the system, specified as an s-element vector. s is the number of state variables in the state space.

u0 — Initial control on the initial state

c-element vector

Initial control input, specified as an c-element vector. c is the number of control inputs.

qTgt — Target state

s-element vector

Target state of the system, specified as an s-element vector. s is the number of state variables in the state space.

Output Arguments

u — Control inputs for propagating states

n-by-c matrix

Control inputs for propagating states, returned as an c-element vector. c is the number of control inputs.

steps — Number of steps from each state and control input to next

n-element vector of positive integers

Number of steps from each state and control input to next, returned as an n-element vector of positive integers.

Version History

Introduced in R2021b