sampleControl

Class: nav.StatePropagator
Namespace: nav

Generate control command and step count

Since R2021b

Syntax

[u,steps] = sampleControl(spObj,q0,u0,qTgt)


Description

[u,steps] = sampleControl(spObj,q0,u0,qTgt) generates a series of control commands and number of steps to move from the current state q0 with control command u0 towards the target state qTgt

Input Arguments

spObj — State propagator object

handle from child class of nav.StatePropagator

State propagator object, specified as a handle from a child class of nav.StatePropagator.

q0 — Initial state

s-element vector

Initial state of the system, specified as an s-element vector, where s is the number of state variables in the state space.

u0 — Initial control on the initial state

c-element vector

Initial control input, specified as an c-element vector, where c is the number of control inputs.

qTgt — Target state

s-element vector

Target state of the system, specified as an s-element vector, where s is the number of state variables in the state space.

Output Arguments

u — Control inputs for propagating states

n-by-c matrix

Control inputs for propagating states, specified as an s-element vector, where c is the number of control inputs.

steps — Number of steps between each state and control input

n-element vector of positive integers

Number of steps between each state and control input, specified as an n-element vector of positive integers.

Attributes

Abstract

true

To learn about attributes of methods, see Method Attributes.

Version History

Introduced in R2021b