shortPath = shorten(rrt,path,numIter)
trims edges to shorten the specified path path by running a randomized
shortening strategy for a specified number of iterations
numIter.
Manipulator RRT planner, specified as a manipulatorRRT object. This planner is for a specific rigid body tree robot
model stored as a rigidBodyTree object.
path — Planned path in joint space r-by-n matrix of joint configurations
Planned path in joint space, specified as an
r-by-n matrix of joint configurations, where
r is the number of configurations in the path, and
n is the number of nonfixed joints in the rigidBodyTree robot model.
Data Types: double
numIter — Number of iterations to attempt shortening the path positive integer
Number of iterations to attempt shortening path, specified as a positive
integer.
shortPath — Planned path in joint space r-by-n matrix of joint configurations
Planned path in joint space, returned as an
r-by-n matrix of joint configurations, where
r is the number of configurations in the path, and
n is the number of nonfixed joints in the rigidBodyTree robot model.
Data Types: double
Extended Capabilities
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