frenet2global

Convert Frenet states to global states

Syntax

globalState = frenet2global(refPath,frenetState)

Description

globalState = frenet2global(refPath,frenetState) converts Frenet trajectory states to global states.

Input Arguments

refPath — Reference path

referencePathFrenet object

Reference path, specified as a referencePathFrenet object.

frenetState — Trajectory in Frenet coordinate frame

P-by-6 numeric matrix

Trajectory in the Frenet coordinate frame, specified as a P-by-6 numeric matrix with rows of form [S dS ddS L dL ddL], where S is the arc length and L is the perpendicular deviation from the direction of the reference path. Derivatives of S are relative to time. Derivatives of L are relative to the arc length, S. P is the number of Frenet states specified.

Output Arguments

globalState — Trajectory in global coordinate frame

P-by-6 numeric matrix

Trajectories in the global coordinate frame, returned as a P-by-6 numeric matrix with rows of form [x y theta kappa speed accel], where:

• x y and theta –– SE(2) state expressed in global coordinates, with x and y in meters and theta in radians

• kappa –– Curvature, or inverse of the radius, in meters

• speed –– Speed in the theta direction in m/s

• accel –– Acceleration in the theta direction in m/s²

P is the number of Frenet trajectories converted to global trajectories.

Extended Capabilities

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