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sampleControl

Generate control command and duration

    Description

    [u,steps] = sampleControl(mobileProp,q0,u0,qTgt) generates a series of control commands and number of steps to move from the current state q0 with control command u0 toward the target state qTgt.

    Input Arguments

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    Mobile robot state propagator, specified as a mobileRobotPropagator object.

    Initial state of the system, specified as an s-element vector. s is the number of state variables in the state space.

    Initial control input, specified as an c-element vector. c is the number of control inputs.

    Target state of the system, specified as an s-element vector. s is the number of state variables in the state space.

    Output Arguments

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    Control inputs for propagating states, returned as an c-element vector. c is the number of control inputs.

    Number of steps from each state and control input to next, returned as an n-element vector of positive integers.

    Introduced in R2021b