Find closest point on reference path to global point
refPath— Reference path
Reference path, specified as a
points— Global points
Global points, specified as a P-by-2 numeric matrix with rows of
[x y]. P is the number of points.
Positions are in meters.
pathPoints— Closest points on reference path
Closest points on the reference path , returned as an N-by-6
numeric matrix with rows of form
[x y theta kappa dkappa s], where:
theta— SE(2) state expressed in global
y in meters and
theta in radians
kappa — Curvature, or inverse of the radius, in
dkappa — Derivative of curvature with respect to arc
length in meters per second
s — Arc length, or distance along path from path origin, in
N is the number of points sampled along the reference path.