how can I create a (8 or infinity) shaped trajectory using 'WaypointTrajectory' or 'KinematicTrajectory' system object?

I want waypoints ? and Euler angles? for that.

Answer 1

[Ryan Salvo]

Hi Biswajit,

Here is code that will create a figure 8 shaped trajectory with the waypointTrajectory object.

Thanks,

Ryan

% Specify waypoints, times of arrival, and sampling rate. 
wp = [0 0 0; 2 -2 0; 4 0 0; 6 2 0; 8 0 0; 6 -2 0; 4 0 0; 2 2 0; 0 0 0];
toa = 4*(0:size(wp,1)-1).';
Fs = 100;

% Create trajectory. 
traj = waypointTrajectory(wp, toa, SampleRate=Fs);

% Get position.
t = 0:1/Fs:toa(end);
pos = lookupPose(traj, t);

% Plot.
figure
plot(pos(:,1), pos(:,2))

[BISWAJIT NAIK]

Thanks Ryan for your insight on this problem. It is really helpful.