Projects sequence of points onto path
refPath — Reference path
Reference path, specified as a
points — Global points
P-by-2 numeric matrix
Global points, specified as a P-by-2 numeric matrix with rows of the form
[x y]. P is the number of points. Positions
are in meters.
initWindow — Initial search window
two-element row vector
Initial search window, specified as a two-element row vector in the form
[minimum_bound maximum_bound] .
pathPoints — Closest points on reference path
N-by-6 numeric matrix
Closest points on the reference path , returned as an N-by-6
numeric matrix with rows of form
[x y theta kappa dkappa s], where:
theta— SE(2) state expressed in global coordinates, with
yin meters and
kappa— Curvature, or inverse of the radius, in meters
dkappa— Derivative of curvature with respect to arc length in meters per second
s— Arc length, or distance along path from path origin, in meters
N is the number of points sampled along the reference path.
inWindow — Indicator of points being in search window
N-element logical column vector
Indication whether each point nearest to the corresponding xy coordinate in
points, is projected within the search window, returned as an N-element logical row vector, where N is the number of points in
points. Points being projected within the search window are
false if they lie at the end of a window.