Propagate system and return valid motion
iteratively propagates the system from the current state
steps] = propagate(
q0 towards a
qTgt with an initial control input
for a maximum number of steps
At the end of each propagation step
i, the system returns these values:
q(i,:) — Current state of the system
u(i,:) — Control input for step
i + 1
steps(i) — Number of steps between
i - 1 and
The function validates all propagations and returns system information between
q0 and the last valid state.
mobileProp— Mobile robot state propagator
Mobile robot state propagator, specified as a
q0— Initial state
Initial state of the system, specified as an s-element vector. s is the number of state variables in the state space.
u0— Initial control on initial state
Initial control on the initial state, specified as an c-element vector. c is the number of control inputs.
qTgt— Target state
Target state of the system, specified as an s-element vector. s is the number of state variables in the state space.
maxSteps— Maximum number of steps
Maximum number of steps, specified as a positive scalar.
q— Propagated states
Propagated states of the system, returned as an s-element vector. s is the number of state variables in the state space.
u— Control inputs for propagating states
Control inputs for propagating states, returned as an n-by-c matrix. c is the number of control inputs
steps— Number of steps from each state and control input to next
Number of steps from each state and control input to next, returned as an n-element vector of positive integers.