plan

Plan path between two states

Syntax

path = plan(planner,startState,goalState)

[path,solutionInfo] = plan(planner,startState,goalState)

Description

path = plan(planner,startState,goalState) returns a path from the start state to the goal state.

[path,solutionInfo] = plan(planner,startState,goalState) also returns solInfo that contains the solution information of the path planning.

Input Arguments

planner — Path planner

plannerRRT object | plannerRRTStar object

Path planner, specified as a plannerRRT object or a plannerRRTStar object.

Data Types: object

startState — Start state of the path

N-element real-valued vector

Start state of the path, specified as an N-element real-valued vector. N is the dimension of the state space.

Example: [1 1 pi/6]

Data Types: single | double

goalState — Goal state of the path

N-element real-valued vector

Goal state of the path, specified as an N-element real-valued vector. N is the dimension of the state space.

Example: [2 2 pi/3]

Data Types: single | double

Output Arguments

path — Object that holds planned path information

navPath object

An object that holds the planned path information, returned as a navPath object.

Data Types: object

solutionInfo — Solution Information

structure

Solution Information, returned as a structure. The fields of the structure are:

Fields of solutionInfo

Fields	Description
IsPathFound	Indicates whether a path is found. It returns as 1 if a path is found. Otherwise, it returns 0.
ExistFlag	Indicates the terminate status of the planner, returned as 1 — if the goal is reached 2 — if the maximum number of iterations is reached 3 — if the maximum number of nodes is reached
NumNodes	Number of nodes in the search tree when the planner terminates (excluding the root node).
NumIterations	Number of "extend" routines executed.
TreeData	A collection of explored states that reflects the status of the search tree when planner terminates. Note that NaN values are inserted as delimiters to separate each individual edge.

Data Types: structure