shorten

Trim edges to shorten path from RRT

Since R2020b

Syntax

shortPath = shorten(rrt,path,numIter)

Description

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.

Input Arguments

rrt — Manipulator RRT planner

manipulatorRRT object

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.

Data Types: double

Output Arguments

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

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2020b