UAV Tool box multiple goal points

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Kim Tae Kyeong
Kim Tae Kyeong on 24 May 2021
Commented: Kim Tae Kyeong on 25 May 2021
Hi,
I am using this UAV tool box to generate 3D dubin curves with multiple goal point.
It works for the single goal point, yet the goalPose (m * 4 )doesn't seem to work.
Even if i put multiple points for the goalPose, only goes for the first point and igonres the others.
connectionObj = uavDubinsConnection;
startPose=[700 400 300 0]
goalPose =[773.407 418.033 162 0;
746.749 991.98 207 0;
370.463 82.6632 110 0;
410.42 705.672 127 0];
[pathSegObj,pathCosts] = connect(connectionObj,startPose, goalPose);
show(pathSegObj{1})
pathSegObj{1}
%% OUT PUT
%% I want this GoalPose as to be 4*4 ==> I want the uav to go through 1st to the last goal points as I assigned above.
uavDubinsPathSegment =>
StartPose: [1×4 double]
GoalPose: [1×4 double]
FlightPathAngle: 0.500000000000000
AirSpeed: 10
MinTurningRadius: 18.678446139922979
HelixRadius: 0
MotionTypes: {'R' 'L' 'S' 'L'}
MotionLengths: [1×4 double]
Length: 2.878444907248214e+02

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R2020b

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