Main Content

interpolate

Interpolate between states

Description

interpStates = interpolate(manipSS,state1,state2,ratios) interpolates between two states in your state space using the specified ratio values ratios.

Input Arguments

collapse all

Manipulator state space, specified as a manipulatorStateSpace object, which is a subclass of nav.StateSpace (Navigation Toolbox).

Initial state position, specified as an n-element row vector. n is the dimension of the state space specified in the NumStateVariables property of manipSS.

Final state position, specified as an n-element row vector. n is the dimension of the state space specified in the NumStateVariables property of manipSS.

Ratio values for interpolating along the path, specified as an m-element vector of values in range [0 1]. These ratios determine the distance of the interpolated state from state1.

Output Arguments

collapse all

Interpolated states, returned as an m-by-n matrix. m is the length of ratios and n is the dimension of the state space specified in the NumStateVariables property of manipSS.

Introduced in R2021b