interpolate

Interpolate between states

Since R2021b

Syntax

interpStates = interpolate(manipSS,state1,state2,ratios)

Description

interpStates = interpolate(manipSS,state1,state2,ratios) interpolates between two states in the manipulator state space using the specified ratio values ratios.

Input Arguments

manipSS — Manipulator state space

manipulatorStateSpace object

Manipulator state space, specified as a manipulatorStateSpace object, which is a subclass of nav.StateSpace (Navigation Toolbox).

state1 — Initial state position

n-element row vector

Initial state position, specified as an n-element row vector. n is the dimension of the state space specified in the NumStateVariables property of manipSS.

state2 — Final state position

n-element row vector

Final state position, specified as an n-element row vector. n is the dimension of the state space specified in the NumStateVariables property of manipSS.

ratios — Ratio values for interpolating along path

m-element vector values in range [0 1]

Ratio values for interpolating along the path, specified as an m-element vector of values in range [0 1]. These ratios determine the distance of the interpolated state from state1.

Output Arguments

interpStates — Interpolated states

m-by-n matrix

Interpolated states, returned as an m-by-n matrix. m is the length of ratios and n is the dimension of the state space specified in the NumStateVariables property of manipSS.

Version History

Introduced in R2021b