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(Not recommended) Obtain connecting poses along vehicle path

connectingPoses is not recommended. Use interpolate instead. For more information, see Compatibility Considerations


poses = connectingPoses(path) returns the connecting poses that are between the key poses of a vehicle path.

poses = connectingPoses(path,segID) returns the connecting poses that are along the path segment specified by segID.

poses = connectingPoses(___,'NumSamples',numSamples) specifies the number of connecting poses to compute between successive key poses, using either of the preceding syntaxes.

Input Arguments

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Planned vehicle path from which to obtain connecting poses, specified as a driving.Path object.

ID of the path segment from which to obtain connecting poses, specified as a positive integer. Each path segment has two successive key poses as its endpoints. segID must be less than the number of segments in the input path.

Number of connecting poses to sample from each segment, specified as an integer greater than 1.

Example: 'NumSamples',50

Output Arguments

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Connecting poses, returned as an m-by-3 matrix of [x, y, Θ] poses. Each row corresponds to a separate pose. x and y are specified in world coordinates and Θ is in degrees. poses includes all key poses.

Version History

Introduced in R2018a

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