Smooth reference path fit to waypoints
The referencePathFrenet
object fits a smooth, piecewise,
continuous curve to a set of waypoints given as [x y]
or [x y
theta]
. After fitting, points along the curve, the path points are expressed as
[x y theta kappa dkappa s]
, where:
x
y
and theta
— SE(2) state expressed in global
coordinates, with x
and y
in meters and
theta
in radians
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
Using this object, convert trajectories between global and Frenet coordinate systems, interpolate states along the path based on arc length, and query the closest point on a path from a global state.
The object expresses Frenet states as a vector of form [S dS ddS L dL
ddL]
, where S
is the arc length and L
is the
perpendicular deviation from the direction of the reference path. Derivatives of
S
are relative to time. Derivatives of L
are relative
to the arc length, S
.
refPathObj = referencePathFrenet(
fits a piecewise, continuous set of curves to the specified waypoints. The
waypoints
)waypoints
argument sets the Waypoints
property.
refPathObj = referencePathFrenet(
fits a piecewise, continuous set of curves to waypoints using the specified distance
between interpolated path points. The waypoints
,'DiscretizationDistance',discretionDist)discretionDist
argument sets
the DiscretizationDistance
property.
closestPoint | Find closest point on reference path to global point |
frenet2global | Convert Frenet states to global states |
global2frenet | Convert global states to Frenet states |
interpolate | Interpolate reference path at provided arc lengths |
show | Display reference path in figure |