Generate Trajectory

R2026b

Generate reference signals for standard trajectories in Live Editor

Since R2026a

Description

The Generate Trajectory task enables you to interactively create standard trajectories using three different unit systems, generate corresponding reference signals, and add events to the generated trajectory.

You can specify the trajectory start time and choose to output the data in either timeseries or timetable format.

The task automatically generates MATLAB^® code, allowing for further modification and integration into your workflow.

For general information about Live Editor tasks, see Add Interactive Tasks to Live Scripts.

By default, the live task creates a workspace variable, Vehicle1Trajectory.

Related Functions

Generate Trajectory generates code that uses these functions:

• Aero.trajectory.bezierTrajectory

• Aero.trajectory.circularTrajectory

• Aero.trajectory.creepingTrajectory

• Aero.trajectory.expandingSquareTrajectory

• Aero.trajectory.lissajousTrajectory

• Aero.trajectory.parallelSweepTrajectory

• Aero.trajectory.polylineTrajectory

• Aero.trajectory.polynomialTrajectory

• Aero.trajectory.sectorTrajectory

• Aero.trajectory.tracklineTrajectory

Open the Task

To add the Generate Trajectory task to a live script in the MATLAB Editor:

• On the Live Editor tab, select Task > Generate Trajectory.

• In a code block in the script, type a relevant keyword, such as generate or trajectory. From the selected completions, select Generate Trajectory.

Examples

Create Reference Signals for Bezier Trajectory

This example shows how to use the Generate Trajectory Live Editor task to create reference signals for a bezier trajectory. By default, Generate Trajectory creates a variable named Vehicle1Traj in the workspace that outputs data in the timeseries format.

From Select trajectory type, select Bezier.

In Vehicle parameters section, set Initial position to [10 0].

In Path parameters section, set the Shape factor to 1.

The live task prepopulates with default values.

In the Display results section, click 3D Plot.

To the upper right, a plot of the waveform displays.

To see the code that this task generates, expand the task display by clicking Show code at the bottom of the task parameter area.

You can use the data from the Vehicle1Trajectory timeseries object in many cases where you want to input data, for example, to import to Signal Editor for modeling trajectories. To save this task, save the live script.

Create Reference Signals for Bezier Trajectory and Import to Signal Editor Block

This example shows how to use the Generate Trajectory Live Editor task to create reference signals for a bezier trajectory. By default, Generate Trajectory creates a variable named Vehicle1Traj in the workspace that outputs data in the timeseries format.

From the Select trajectory type, select Bezier.

In the Vehicle parameters section, set Initial position to [10 0].

In the Path parameters section, set the Shape factor to 2.

Leave the other parameters at their default values.

From the MATLAB Command Window, create a model and add a Signal Editor block.

In the Signal Editor block, click the Open Signal Editor button. The Signal Editor tool opens.

In the Signal Editor tool, on the Signal Editor tab, click Import.

In the Import dialog box, under Select signals to import, select Vehicle1Traj, and then click OK.

In the Signal Editor, drag the Vehicle1Traj bus to the active Scenario.

Save the updates to a new MAT file, such as C:\work\veh1traj.mat. Close the Signal Editor tool.

In the Signal Editor block, set File name to the name of the new MAT file.

Use the output signals from the Signal Editor block in your aerospace application.

Related Examples

• Generate Trajectory Live Editor Task for Flight Mission
• Generate Trajectory Live Editor Task for Flight Mission with No-Fly Zones
• Generate Trajectories and Reference Signals
• Model a Quadcopter Based on Parrot Minidrones

Parameters

Specify properties for each vehicle.

Select trajectory type — Type of trajectory

Sector search | Expanding square search | Trackline search | Parallel sweep search | Creeping line search | Polyline | Bezier | Circular | Polynomial | Lissajous search

Type of trajectory, specified as Sector search, Expanding square search, Trackline search, Parallel sweep search, Creeping line search, Polyline, Bezier, Circular, Polynomial, or Lissajous search.

Note

The live task does not create space-filling trajectories. To create reference signals for space-filling trajectories, see Aero.trajectory.spaceFillingTrajectory.

Trajectory Type	Description
Sector search	Generate reference signals for a sector search trajectory.
Expanding square search	Generate reference signals for an expanding square search pattern.
Trackline search	Generate reference signals for trackline search patterns.	Trackline trajectory with return: Trackline trajectory with no return:
Parallel sweep search	Generate reference signals for a parallel sweep search trajectory.
Creeping line search	Generate trajectory reference signals for a creeping line search pattern.
Polyline	Generate trajectory reference signals for a polyline flight trajectory.
Bezier	Generate reference signals for tracing Bezier trajectories.
Circular	Generate reference signals for tracing a trajectory that consists of multiple circular arcs.
Polynomial	Generate reference signals for tracing a polynomial trajectory.
Lissajous	Generate reference signals for tracing a Lissajous trajectory.	Simple Lissajous trajectory
		Simple Lissajous rectilinear trajectory
		Simple Lissajous star trajectory

Coordinate system configuration

Units — Input and output units

Metric (MKS) | English (Velocity in ft/s) | English (Velocity in kts)

Input and output units, specified as one of these values.

Units	Position	Altitude	Speed
Metric (MKS)	Meters	Meters	Meters per second
English (Velocity in ft/s)	Feet	Feet	Feet per second
English (Velocity in kts)	Nautical miles	Feet	Knots

Coordinate plane — Coordinate plane

Flat (default) | Spherical | Ellipsoidal

Coordinate plane of trajectory, specified as Flat, Spherical, or Ellipsoidal.

Dependencies

To enable this parameter, set Select trajectory type to Polyline.

Vehicle parameters

Initial position — Initial position

[0,0] (default) | 1-by-2 vector | 2-by-1 vector

Initial position of trajectory, specified as a 1-by-2 or 2-by-1 vector in the units specified in Units.

Data Types: double

Final position — Final position

[50 50] (default) | 1-by-2 vector | 2-by-1 vector

Final position of trajectory, specified as a 1-by-2 or 2-by-1 vector in the units specified in Units.

Dependencies

To enable this parameter, set Select trajectory type to Bezier, Circular, or Polynomial.

Data Types: double

Initial heading — Initial heading of trajectory

0 or pi/2 (default) | finite real double scalar between 0 and 2*pi

Initial heading of trajectory, specified as a finite real double scalar between 0 and 2*pi, in radians.

Dependencies

When Select trajectory type is set to Bezier, Circular, or Polynomial, Initial heading default is pi/2. For all other trajectory types, default is 0.

Data Types: double

Final heading — Final heading of trajectory

pi/2 (default) | scalar | finite real double scalar between 0 and 2*pi

Final heading of trajectory, specified as a finite real double scalar between 0 and 2*pi, in radians.

Dependencies

To enable this parameter, set Select trajectory type to Bezier, Circular, or Polynomial.

Data Types: double

Initial altitude — Initial altitude of trajectory

0 (default) | scalar

Initial altitude of trajectory, specified as a scalar in the units specified in Units.

Dependencies

To enable this parameter, set Select trajectory type to Sector search, Expanding square search, Trackline search, Parallel sweep search, Creeping line search, Polyline, or Lissajous search.

Data Types: double

Speed — Initial speed of trajectory

10 (default) | finite real double scalar

Initial speed of trajectory, specified as a finite real double scalar in the units specified in Units.

Data Types: double

Climb rate — Vertical velocity component of vehicle during ascent

1 (default) | finite real double scalar less than vehicle speed

Vertical velocity component of vehicle during ascent, specified as a finite real double scalar less than the vehicle speed in the units specified in Units.

Dependencies

To enable this parameter, set Select trajectory type to Sector search, Expanding square search, Trackline search, Parallel sweep search, Creeping line search, or Polyline.

Data Types: double

Descent rate — Vertical speed at which vehicle loses altitude

1 (default) | finite real double scalar

Vertical speed at which the vehicle loses altitude during a descent maneuver,.specified as a finite real double scalar in the units specified in Units.

Dependencies

To enable this parameter, set Select trajectory type to Sector search, Expanding square search, Trackline search, Parallel sweep search, Creeping line search, or Polyline.

Data Types: double

Path parameters

Shape factor — Shape factor constant

0 or 1 (default) | positive or nonnegative finite real double scalar, 1-by-2 vector, 2-by-1 vector

Shape factor constant, specified as a positive or nonnegative finite real double scalar, 1-by-2 vector, 2-by-1 vector, depending on the trajectory type. The shape factor constant ShapeFactor provides additional control over the trajectory, with its effect depending on the specific trajectory type. For more information on shape factors according to trajectory type, see:

• Aero.trajectory.bezierTrajectory

• Aero.trajectory.circularTrajectory

• Aero.trajectory.polylineTrajectory

Dependencies

To enable this parameter, set Select trajectory type to Bezier, Circular, or Polynomial.

• When Select trajectory type is set to Circular, Shape factor default is 0. The value must be a nonnegative scalar and between 0 and 1.

• When Select trajectory type is set to Bezier, default is 1. The value must be a positive scalar between 0 and 10 or a 2-element vector.

• When Select trajectory type is set to Polynomial, default is 1. The value must be a positive scalar between 0 and 10.

Data Types: double

Altitude — Altitude of trajectory

0 or 100 (default) | finite real scalar double

Altitude of trajectory, specified as a finite real scalar double in the units specified in Units. This value is constant throughout the vehicle path.

Dependencies

The default value depends on the trajectory type:

• If Select trajectory type is set to Sector search, Expanding square search, Trackline search, Parallel sweep search, or Creeping line search, the default value is 100.

• If Select trajectory type is set to Bezier, Circular, Polynomial, Polyline, or Lissajous search, the default value is 0.

Data Types: double

Number of samples — Number of samples

10 (default) | finite positive integer scalar

Number of samples in the output signals, specified as a scalar.

Dependencies

To enable this parameter, set Select trajectory type to Bezier, Circular, Polynomial, or Lissajous search.

For the Lissajous search trajectory type, set Lissajous type to Simple, Circular, or Star.

Data Types: double

Radius — Radius of trajectory

5 (default) | positive scalar

Radius of trajectory, specified as a positive scalar in the units specified in Units.

Dependencies

To enable this parameter, set Select trajectory type to Sector search.

Data Types: double

Bearing — Bearing

0 (default) | finite real scalar double between 0 and 2*pi

Bearing, specified as a finite real scalar double between 0 and 2*pi, in radians.

Dependencies

To enable this parameter, set Select trajectory type to Sector search, Expanding square search, Parallel sweep search, Creeping line search, or Lissajous search.

For the Lissajous search trajectory type, set Lissajous type to Simple or Rectilinear.

Data Types: double

Number of legs — Number of legs

5 (default) | nonnegative integer

Number of legs in the expanding square, specified as a nonnegative integer in the units specified in Units.

Dependencies

To enable this parameter, set Select trajectory type to Expanding square search.

Data Types: double

Track spacing — Spacing between tracks

1, 3, or 5 (default) | scalar

Spacing between tracks, specified as a scalar.

Dependencies

To enable this parameter, set Select trajectory type to Creeping line search, Expanding square search, Trackline search, or Parallel sweep search.

The default value depends on the trajectory type:

• If Select trajectory type is set to Parallel sweep search or Creeping line search, the default value is 1.

• If Select trajectory type is set to Expanding square search, the default value is 3.

• If Select trajectory type is set to Trackline search, the default value is 5.

Data Types: double

Trackline type — Trackline search type

Return (TSR) (default) | No return (TSN)

Trackline search type, specified as Return (TSR) or No return (TSN).

Dependencies

To enable this parameter, set Select trajectory type to Trackline search.

Data Types: char | string

Track point 1 — First track point

[50 0] (default) | 1-by-2 vector | 2-by-1 vector

First track point, specified as a 1-by-2 or 2-by-1 vector of finite real doubles in the units specified in Units.

Dependencies

To enable this parameter, set Select trajectory type to Trackline search.

Data Types: double

Track point 2 — Second track point

[50 0] (default) | 1-by-2 vector | 2-by-1 vector

Second track point, specified as a 1-by-2 or 2-by-1 vector of finite real doubles in the units specified in Units.

Dependencies

To enable this parameter, set Select trajectory type to Trackline search.

Data Types: double

Field center — Field center

[50 0] (default) | 1-by-2 vector | 2-by-1 vector

Field center, specified as a 1-by-2 or 2-by-1 vector of finite real doubles in the units specified in Units.

Dependencies

To enable this parameter, set Select trajectory type to Parallel sweep search, Creeping line search, or Lissajous search.

For the Lissajous search trajectory type, set Lissajous type to Simple, Circular, Star, or Rectilinear.

Data Types: double

Field length — Field length

10 (default) | scalar

Field length, specified as a scalar in the units specified in Units.

Dependencies

To enable this parameter, set Select trajectory type to Parallel sweep search or Lissajous search.

Data Types: double

Field width — Field width

5 (default) | positive scalar

Field width, specified as a positive scalar in the units specified in Units.

Dependencies

To enable this parameter, set Select trajectory type to Parallel sweep search, Creeping line search, or Lissajous search.

For the Lissajous search trajectory type, set Lissajous type to Simple or Rectilinear.

Data Types: double

Field size — Radius of circumscribing circle

4 (default) | positive scalar

Radius of the circle circumscribing the star-shaped region, specified as a positive scalar in the units specified in Units.

Dependencies

To enable this parameter, set Select trajectory type to Lissajous search and set Lissajous type to Star.

Data Types: double

Reference position — Current position of vehicle

[0 0] (default) | 1-by-2 vector | 2-by-1 vector

Current position of vehicle, specified as a 1-by-2 or 2-by-1 vector of finite real doubles.

Dependencies

To enable this parameter, set Select trajectory type to Polyline.

Data Types: double

Reference heading — Current heading of vehicle

0 (default) | scalar | scalar between 0 and 2*pi

Current heading of vehicle, specified as a scalar between 0 and 2*pi, in the units specified in Units.

Dependencies

To enable this parameter, set Select trajectory type to Polyline.

Data Types: double

Segment distance — Segment distance

50 (default) | positive scalar

Segment distance in a trajectory, specified as a positive scalar in the units specified in Units.

Dependencies

To enable this parameter, set Select trajectory type to Polyline.

Data Types: double

Absolute bearing — Absolute bearing

0 (default) | scalar between 0 and 2*pi

Absolute bearing, specified as a scalar between 0 and 2*pi, in the units specified in Units. This value is the angle measured clockwise from true north to the direction of travel along the trajectory. Specify either Absolute bearing or Relative bearing. Do not specify both parameters.

Dependencies

To enable this parameter, set Select trajectory type to Polyline.

Data Types: double

Relative bearing — Relative bearing

0 (default) | scalar between 0 and 2*pi

Relative bearing, specified as a scalar between 0 and 2*pi, in the units specified in Units. This value is the angle between the current heading (direction of travel) and the direction to the next waypoint, measured with respect to the vehicle forward direction. Specify either Absolute bearing or Relative bearing. Do not specify both parameters.

Dependencies

To enable this parameter, set Select trajectory type to Polyline.

Data Types: double

Minimum turn radius — Minimum turn radius limit

0 (default) | finite real double scalar

Minimum turn radius limit, specified as a finite real double scalar in the units specified in Units. Minimum turn radius must be less than or equal to Maximum turn radius.

Dependencies

To enable this parameter, set Select trajectory type to Circular.

Data Types: double

Maximum turn radius — Maximum turn radius limit

Inf (default) | positive real double scalar

Maximum turn radius limit, specified as a positive real double scalar in the units specified in Units. Maximum turn radius must be greater than or equal to Minimum turn radius.

Dependencies

To enable this parameter, set Select trajectory type to Circular.

Data Types: double

Vehicle coordination — Vehicle coordination mode

1 to 1 coordination (default) | 1 to 2 coordination | 1 to 3 coordination

Vehicle coordination mode, specified as 1 to 1 coordination, 1 to 2 coordination, or 1 to 3 coordination.

Dependencies

To enable this parameter, set Select trajectory type to Creeping line search.

Search direction — Search direction

Counterclockwise or Clockwise (default)

Search direction, specified as Counterclockwise or Clockwise.

Dependencies

To enable this parameter, set Select trajectory type to Sector search or Expanding square search.

The default value depends on the trajectory type:

• If Select trajectory type is set to Sector search, the default value is Counterclockwise.

• If Select trajectory type is set to Expanding square search, the default value is Clockwise.

Frequency ratio — Ratio of oscillation frequencies

1.25 (default) | positive scalar

Ratio of the oscillation frequencies, specified as a positive scalar. This parameter determines the shape of the Lissajous pattern.

Dependencies

To enable this parameter, set Select trajectory type to Lissajous search.

Data Types: double

Lissajous type — Type of Lissajous curve

Simple (default) | Circular | Star | Rectilinear

Type of Lissajous curve, specified as Simple, Rectilinear, Circular, or Star.

• Simple — Lissajous curve from superposition of two orthogonal simple harmonic oscillations. Covers rectangular regions.

• Rectilinear — Lissajous curve-like pattern from sawtooth oscillations. Results in straight-line coverage paths. Covers rectangular regions.

• Circular — Polar variation of Lissajous curve with oscillations along radial and tangential directions. Covers circular sector-like regions.

• Star — Polar variation of Lissajous curve where the radial coordinate varies along the boundary of an N-pointed star. Covers star-shaped regions.

Dependencies

To enable this parameter, set Select trajectory type to Lissajous search.

Data Types: string

Cycles — Number of cycles

1 (default) | positive scalar

Number of cycles for which the Lissajous curve is generated, specified as a positive scalar.

Dependencies

To enable this parameter, set Select trajectory type to Lissajous search.

Data Types: double

Initial phase — Starting point of coverage path

[0,0] (default) | 2-element vector

Initial starting point of the coverage path within the field, specified as a 2-element vector, in radians, in the range [0, 2*pi].

Dependencies

To enable this parameter, set Select trajectory type to Lissajous search and set Lissajous type to Simple, Circular, or Rectilinear.

Data Types: double

Tilt — Tilt of field

pi/9 (default) | scalar between 0 and 2*pi

Tilt of the field to form a parallelopiped, specified as a scalar between 0 and 2*pi, in radians.

Dependencies

To enable this parameter, set Select trajectory type to Lissajous search and set Lissajous type to Simple or Rectilinear.

Data Types: double

Radius range — Radius bounds of circular sector

[5,10] (default) | 2-element vector

Lower and upper bounds on the radius of the circular sector, specified as a 2-element vector in the units specified in Units.

Dependencies

To enable this parameter, set Select trajectory type to Lissajous search and set Lissajous type to Circular.

Data Types: double

Angular range — Angular bounds of circular sector

[pi/6, 5*pi/6] (default) | 2-element vector

Lower and upper bounds on the angular width of the circular sector, specified as a 2-element vector, in radians.

Dependencies

To enable this parameter, set Select trajectory type to Lissajous search and set Lissajous type to Circular.

Data Types: double

Number of lobes — Number of star lobes

5 (default) | integer greater than or equal to 2

Number of lobes of the star-shaped region, specified as an integer greater than or equal to 2.

Dependencies

To enable this parameter, set Select trajectory type to Lissajous search and set Lissajous type to Star.

Data Types: double

Sharpness — Shape factor of star

0.5 (default) | scalar in range [0, 1]

Factor that determines the shape of the star, specified as a scalar in the range [0, 1]. When Sharpness is 0, the star converges on the circumscribing circle. When Sharpness is 1, the lobes are fully distinct.

Dependencies

To enable this parameter, set Select trajectory type to Lissajous search and set Lissajous type to Star.

Data Types: double

Trajectory data information

Event names — Event name

scalar string | nondimensional string array | event or variable name

Event name, specified as a scalar string, a nondimensional, comma-separated string array, or an event or variable name. Enter the event or variable name and then click Update table. The new name appears on the associated table with a check box corresponding to each point. To indicate that an event occurs at a particular point for an event name, select an associated check box. Clear the check box to indicate that no event occurs.

To specify an event name as a MATLAB variable, define the variable in the MATLAB Command Window, and then enter the variable in the live task. The live task replaces the variable name with the definition in the text box parameter.

Example: ["Event1","Event2"]

Example: In the Command Window, specify Events=["Event1","Event2"] and enter ["Events"] in the live task Event names. Observe that the live task replaces Event names with ["Event1", "Event2"].

Data Types: string

Additional reference signal — Additional reference signal

Lateral acceleration | Turn rate

Additional reference signal, specified as Lateral acceleration or Turn rate.

Dependencies

To enable this parameter, set Select trajectory type to Bezier, Circular, Polynomial, or Lissajous search.

Output properties

Data type — Data type of trajectory data

Timeseries | Timetable

Data type of trajectory data, specified as Timeseries or Timetable.

Start time — Initial time of trajectory operation

current day and time

Initial time of trajectory operation, specified as the current day and time.

Display results

Visualize results as a 3D plot or heading versus time plot.

3D plot — Option to plot results in 3D

off (default) | on

Select this parameter to generate a 3D plot of the results.

Heading vs time — Option to plot the results as heading versus time

off (default) | on

Select this parameter to generate a heading versus time plot of the results.

Turn rate vs time — Option to plot the results as turn rate versus time

off (default) | on

Select this parameter to generate a turn rate versus time plot of the results.

FPA vs time — Option to plot flight path angle (FPA) versus time

off (default) | on

Select this parameter to generate a flight path angle (FPA) versus time plot of the results.

Dependencies

To enable this parameter, set Select trajectory type to Lissajous search.

Lateral acceleration vs time — Option to plot the results as lateral rate versus time

off (default) | on

Select this parameter to generate a lateral rate versus time plot of the results.

Dependencies

To enable this parameter, set Select trajectory type to Bezier, Circular, Polynomial, or Lissajous search.

Version History

Introduced in R2026a

R2026b: No-Fly Zones and Flight Paths

The Generate Trajectory live task now has these parameters:

• Climb rate and Descent rate parameters to compute flight path angles.

• FPA vs time parameter to report flight paths.