M-File Help: RandomPath View code for RandomPath

RandomPath

Vehicle driver class

Create a "driver" object capable of driving a Vehicle object through random waypoints within a rectangular region and at constant speed.

The driver object is attached to a Vehicle object by the latter's add_driver() method.

Methods

init reset the random number generator
demand return speed and steer angle to next waypoint
display display the state and parameters in human readable form
char convert to string

Properties

goal current goal coordinate
veh the Vehicle object being controlled
dim dimensions of the work space (2x1) [m]
speed speed of travel [m/s]
closeenough proximity to waypoint at which next is chosen [m]

Example

veh = Vehicle(V);
veh.add_driver( RandomPath(20, 2) );

Notes

Reference

Robotics, Vision & Control, Chap 6, Peter Corke, Springer 2011

See also

Vehicle


RandomPath.RandomPath

Create a driver object

d = RandomPath(dim, options) returns a "driver" object capable of driving a Vehicle object through random waypoints. The waypoints are positioned inside a rectangular region bounded by +/- dim in the x- and y-directions.

Options

'speed', S Speed along path (default 1m/s).
'dthresh', D Distance from goal at which next goal is chosen.

See also

Vehicle


RandomPath.char

Convert to string

s = R.char() is a string showing driver parameters and state in in a compact human readable format.


RandomPath.demand

Compute speed and heading to waypoint

[speed,steer] = R.demand() returns the speed and steer angle to drive the vehicle toward the next waypoint. When the vehicle is within R.closeenough a new waypoint is chosen.

See also

Vehicle


RandomPath.display

Display driver parameters and state

R.display() displays driver parameters and state in compact human readable form.

See also

RandomPath.char


RandomPath.init

Reset random number generator

R.init() resets the random number generator used to create the waypoints. This enables the sequence of random waypoints to be repeated.

See also

randstream


 

© 1990-2012 Peter Corke.